CN101580071A - Railway locomotive and vehicle operating attitude measurement system - Google Patents
Railway locomotive and vehicle operating attitude measurement system Download PDFInfo
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- CN101580071A CN101580071A CNA2009101439956A CN200910143995A CN101580071A CN 101580071 A CN101580071 A CN 101580071A CN A2009101439956 A CNA2009101439956 A CN A2009101439956A CN 200910143995 A CN200910143995 A CN 200910143995A CN 101580071 A CN101580071 A CN 101580071A
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Abstract
A railway locomotive and vehicle operating attitude measurement system comprises a group of high-speed video cameras which are installed on at least three non-colinear points of a tested vehicle body, arranged oppositely to a running track of the tested vehicle body and used for shooting a track image sequence when a train runs, and an imagine acquisition and processing module used for receiving the track image sequence and analyzing the track image sequence obtained by the high-speed video camera on each point so as to obtain offset of each point relative to the track and determine a spatial attitude and the offset of the tested vehicle relative to two tracks. The railway locomotive and vehicle operating attitude measurement system takes rail surface and track center line as a benchmark, and is non-contact and based on machine vision, can conduct real-time measurement to the dynamic offset of the locative and vehicle to obtain the dynamic offset of an optional position on the vehicle body relative to track surface coordinates, conduct online measurement to the vehicle dynamic displacement in real time, conduct early warning and alarm to overrunning, and simultaneously ensure the measurement accuracy.
Description
Technical field
The various mode of vibrations of rolling stock cause when the invention belongs to train operation side-play amount test and measurement technique, be specifically related to a kind ofly can detect locomotive vehicle dynamic intrinsic curve, the railway locomotive and vehicle operating attitude measurement system of go forward side by side line overrun early warning or warning.
Background technology
Guaranteeing under the railway operation safety prerequisite, rationally utilize gauge space transportation out of gauge freight, must formulate the train of out of gauge good condition of service that meets current actual conditions, comprise the condition of service when train of out of gauge good passes through the condition of service of building or equipment and train of out of gauge good and adjacent line train crossing.And this depends on distance between train of out of gauge good and the track clearance and the distance between train of out of gauge good and adjacent line train, and these two distances are closely related with goods oad, vehicle gauge of the locomotive, track clearance, distance between centers of tracks and the vehicle transversal displacement in operational process.When vehicle moved on the line, because the mutual action between the wheel track, under the effect of various vertical and transverse forces, Vehicular system can produce vertical and lateral vibration.Therefore, the side-play amount under the various vibration patterns of research Vehicular system is rationally to determine the basis of wagon loaded with out-of-gouge goods condition of service.
Do not have skew gauge and quiet skew gauge relatively, the space availability ratio of the moving skew gauge of rolling stock is the highest.The vehicle gauge of the locomotive of China laterally belongs to does not substantially have the skew gauge, vertically belongs to quiet skew gauge substantially, for utilizing the gauge space as far as possible, is necessary progressively to set up the moving skew gauge of China's rolling stock.The foundation of moving skew gauge need be considered the vibration side-play amount of rolling stock.Because the factor of influence vibration side-play amount is many and complicated, detecting in the rolling stock operational process is the research means that can reflect actual conditions.
As seen, detect railway locomotive and vehicle operating attitude, obtain vibration side-play amount in the rolling stock operational process and be to set up the moving skew gauge of China's rolling stock, rationally utilize the needs in gauge space.National standard (GB146.1-83, gauge is defined as follows in GB146.2-83): gauge is a profiled outline vertical with track centerline, and lateral dimension is counted from line of centers, represents with the gauge half-breadth; Vertical dimension is counted from rail level.Segment of curve is widened by the molded breadth of relevant fortune regulation justice.Because problems such as the straight line gradient and high rail superelevation, side-play amount also must define and measure with respect to rail level.
The final purpose that detects vehicle dynamic offset (operation attitude) is the moving skew gauge that obtains rolling stock, and judge rolling stock in operational process whether can with face line vehicle generation scratching phenomenon or do not transfinite.The different kinds of railways charge of trucks of researching and developing both at home and abroad transfinites and detects or the lateral excursion amount detecting device at present, all can only be to rolling stock (lade) static or during by attachment point overrun condition detects, and can not monitor its operation attitude in real time with the locomotive vehicle movement.As adopt laser ranging technique to detect the dynamic transversal displacement whether cargo-carring goods transfinites, detects rolling stock; Utilize two light curtain splicings to be transfinited in the lorry end and carry out real time automatic detection with image processing techniques; The laser diffuser reflection that adopts diffuser reflection, the reflection of laser polarization light and have a background function of shielding detects the compound type detecting pattern that combines and carries out the detection of out of gauge freight; Adopt infrared technique or CCD shooting and image processing techniques to detect overrun condition; The mode that adopts structured light and CCD shooting to combine is carried out Railway Cargo Gauge and is detected.Above method all is to choose a certain cross section to set up portal frame installation and measuring equipment on railway, and whether when train passes through portal frame, detecting it transfinites.And the factor that influences dynamic offset is very complicated, must monitor, detect its dynamic offset in real time in the rolling stock operational process, could obtain regular data.
Summary of the invention
The invention provides a kind of is the contactless railway locomotive and vehicle operating attitude measurement system based on machine vision of benchmark with rail level and track centerline, it can be measured in real time to the dynamic offset of rolling stock, by measurement to the side-play amount of measuring point on the car body (being no less than 3) relative orbit, analysis obtains car body operation attitude and (nods, shake the head, sidewinder, yaw, drift along) dynamic measurement, further obtain on the car body optional position with respect to the dynamic offset of rail level system of axes, and according to the dynamic offset of key point on the car body profile, comprehensively obtain the Dynamic Envelope of car body, car body Dynamic Envelope and track clearance profile are compared, if have the control point near in addition exceed track clearance, will carry out super-limit prewarning and warning.In the displacement of real-time online measuring vehicle dynamic, guaranteed survey precision.
The technical solution adopted in the present invention is as follows:
A kind of railway locomotive and vehicle operating attitude measurement system, the rail top face image sequence when adopting the high-speed camera instrument to obtain train operation is characterized in that described measuring system comprises:
One group of high-speed camera instrument that on non-colinear at least three points of tested car body, install to be provided with, relative tested vechicle running body track setting of described high-speed camera instrument and the orbital image sequence when being used to absorb train operation;
Image acquisition and processing module, this module receives described orbital image sequence, and the rail image sequence that obtains of the high-speed camera instrument of analyzing each point, obtain the side-play amount of each point, and determine spatial attitude and the side-play amount of tested car body with respect to two tracks with respect to track.
Concretely, the point of described installation high-speed camera instrument is four, and described four points are installed in the non-same plane with vertical rail surface.
In one embodiment, the camera lens external fixation of described high-speed camera instrument is provided with two prisms, makes to be in the repeatedly reflection of the interior testee of field range through two prisms, when projecting on the high-speed camera instrument CCD, becomes two images that keep at a certain distance away.
In one embodiment, described train operation attitude measurement system further comprises initiatively light source, and described active light source and high-speed camera instrument are equipped with, initiatively the orbital region of the described high-speed camera instrument of light source irradiation capture.
Initiatively light source is the monochromatic LED array, described active light source with become the triangle reflective relation between capture track, the high-speed camera instrument CCD.
Described high-speed camera instrument further is provided with narrow band pass filter outward, described narrow band pass filter incides on the high speed projector light intensity at least 60% through the active light source after the track reflection, and incides ratio on the high speed projector less than 3% through the surround lighting after the object reflection in capture zone.
In one embodiment, described measuring system further comprises a synchronous controller, and described synchronous controller is controlled on described four points and to be installed that the high-speed camera instrument that is provided with carries out time lock and image data is synchronous.
Described measuring system further comprises a host computer and speed acquisition equipment, and described host computer connects described image acquisition and processing module, and the spatial attitude and the side-play amount of tested car body are put in order, show, stored and external real-time Communication for Power.
Described speed acquisition equipment comprises GPS knotmeter, radar meter or Doppler anemometer.
Described measuring system further is provided with the guide rail actuating device on described tested car body, this device is made up of high precision guide rail, slide block, screw mandrel, absolute encoder and stepping motor and control system thereof; Described guide rail actuating device is fixed on described tested car body, described high-speed camera instrument and active light source are fixed on the slide block, slide block can slide on guide rail through driving, when the transversal displacement of tested car body reaches certain numerical value, this actuating device driving sliding block drives the high-speed camera instrument and an active light source moves to the traversing opposite sense of car body, on this actuating device, adopt absolute encoder to detect the number of turns that leading screw rotates simultaneously, thereby obtain the traversing amount that slide block is the high-speed camera instrument.
Because the tested car body of rail vehicles is very little by elastic deformation that live load causes in operational process, the present invention is considered as rigid body with car body and considers when the operation attitude of monitoring car body.A bit set up system of axes at certain, the dynamic offset of car body is by along the translation of three change in coordinate axis direction and displacement superposed the obtaining that cause around the rotation of three axles.Therefore vertically the car body service direction is along the railway length direction, and gauge is a transversal surface perpendicular to rail level and track centerline, and translation can be considered, only needs to consider traversing Δ y, the Δ z that drifts along, the θ that nods, shake the head φ and survey roll
Five kinds of vibrations are to the contribution of car body dynamic offset.The motion image sequence of measuring point relative orbit system of axes is gathered on the present invention's energy real-time stabilization ground, the real-time analysis processing data, can access car body yaw, drift along, sidewinder, nod and the five kinds of athletic postures of shaking the head, and further resolve the dynamic offset of any control point that obtains being fixed on car body.
This railway locomotive and vehicle operating attitude measurement system is installed the high speed linear array photographic apparatus respectively on non-colinear at least three points of tested car body, be that high-speed camera can not be installed in the same plane of vertical track end face, motion along with tested car body, each high-speed camera instrument is the motion image sequence of relative this measuring point video camera (just tested car body) of track record respectively, the utilization image processing techniques can analyze cross travel and the vertical deviation of each point with respect to track.The number of this point is preferably four, and the high-speed camera instrument on four measuring points can be controlled by time synchronism apparatus, the synchronous acquisition take off data, and it puts in order, shows, stores and external real-time Communication for Power host computer to recording data.The side-play amount of comprehensive three measuring point relative orbits, determine spatial attitude and the side-play amount of tested car body with respect to two tracks, after obtaining tested car body and must moving attitude, can obtain the take up an official post dynamic offset of meaning point (or be fixed on the car body goods) of tested car body, according to the dynamic offset of key point on the car body profile, further obtain the Dynamic Envelope of car body; The Dynamic Envelope and the railway construction clearance profile of car body are compared, if having the control point near or exceed gauge, report to the police and early warning.The 4th side-play amount that measuring point is measured can be used for the result is verified.
Because the acquisition of tested vechicle running body attitude is the vibration side-play amount that records based on each point, for improving measuring accuracy, reduce the error of bringing owing to the rail head alteration of form as far as possible, the present invention adopts monocular slur stereovision scheme.Promptly before the general-duty camera lens, increase by two prisms.Be in of the repeatedly reflection of the interior jobbie of field range, when projecting on the CCD, become two images that keep at a certain distance away through two prisms.On same CCD, the horizontal position of rail level image in entire image is relevant with the transversal displacement of car body, and the interval variation amount of two images of rail level is relevant with variable in distance amount between CCD and the rail level.
In addition, the present invention also can adopt the monochromatic LED array to cooperate the influence of eliminating surround lighting with narrow band pass filter as the active light source.This measuring system is to be to detect the basis with the rail level, be the rail level in the outstanding as far as possible picture, can adopt active light source to illuminate rail level such as monochromatic high-power LED array, owing to led light source, be illuminated and become the triangle reflective relation between the scanning line of orbital plane, CCD, impinge upon the following light of rail level and can't enter CCD.Incide on the CCD more than 60% and adopt narrow band pass filter to allow light intensity through the active light source after the rail level reflection have, and through the surround lighting after the object reflection in capture zone incide on the CCD less than 3%, thereby greatly improved the signal to noise ratio of image, further improved the reliability of graphical analysis.
Moreover according to vehicle structure form and size, under this measuring system normal circumstances, the detection range of check point transversal displacement is in ± 200mm.Because Heavy Duty Freight Car is when crossing the curve of small radii, the transversal displacement of measuring point may when therefore Heavy Duty Freight Car being detected, can pass through to increase the guide rail actuating device to increase detection range much larger than this detection range.High-speed camera instrument and active light source all can be fixed on the slide block on guide rail (being installed on the car body) actuating device.When the cross-car side-play amount reaches certain numerical value, when exceeding detection range possibly, this guide rail actuating device driving sliding block moves to the traversing opposite sense of car body, when the high-speed camera images acquired, adopt simultaneously absolute encoder to detect the traversing amount of slide block (CCD) synchronously, the result that the traversing amount of the slide block that the car body real offset detects for the traversing amount that obtains from image processing and coder is synthesized.
Beneficial effect of the present invention is, this railway locomotive and vehicle operating attitude measurement system is to be that benchmark contactless is based on machine vision with rail level and track centerline, it can be measured in real time to the dynamic offset of rolling stock, can be by dynamic measurement to travel condition of vehicle (nod, shake the head, sidewinder, yaw, drift along), obtain on the car body optional position with respect to the dynamic offset of rail level system of axes.According to the dynamic offset of car body profile key point, further obtain the Dynamic Envelope of car body; The Dynamic Envelope and the railway construction clearance profile of car body are compared, can judge whether near or exceed the part of gauge, and can according near or exceed degree, carry out the early warning or the warning of different stage.In the displacement of real-time online measuring vehicle dynamic, guaranteed survey precision.
Description of drawings
Fig. 1 is the composition frame diagram of the measuring system in the specific embodiment of the invention;
Fig. 2 is the structure distribution of four test points in the specific embodiment of the invention and the structural representation of rail level system of axes;
Fig. 3 is the imaging arrangement scheme drawing of specific embodiment of the invention high speed video camera;
Fig. 4 is the face upwarding assumption diagram of outer two prisms that are provided with of Fig. 3 high speed video camera;
Fig. 5 is the rail level image that Fig. 3 high speed video camera obtains;
Fig. 6 is that the car body car body that angle φ calculates of shaking the head changes scheme drawing in the specific embodiment of the invention;
Fig. 7 is that the car body that car body point brilliance θ calculates in the specific embodiment of the invention changes scheme drawing;
Fig. 8 is that the car body that car body angle of roll ψ calculates in the specific embodiment of the invention changes scheme drawing;
The specific embodiment
As shown in Figure 1, the rail top face image sequence when this railway locomotive and vehicle operating attitude measurement system adopts the high-speed camera instrument to obtain train operation, it comprises:
Four high-speed camera CCD that the non-colinear separation point is provided with, promptly these four high-speed camera instrument are installed in the non-same plane with vertical rail surface.Track setting of four relative tested vechicle running bodies of high-speed camera instrument and the orbital image sequence when being used to absorb train operation;
Synchronous controller, this synchronous controller are controlled on described four points and to be installed that the high-speed camera instrument that is provided with carries out time lock and image data is synchronous.
Image acquisition and processing module, this module receives described orbital image sequence, and the rail level image sequence that obtains of the high-speed camera instrument of analyzing each point, obtain the side-play amount of each point, and determine spatial attitude and the side-play amount of tested car body with respect to two tracks with respect to track.
Switch box and monitoring device, switch box connects host computer, synchronous controller and four high-speed camera instrument; Also be connected with speed and mileage tester with host computer, the speed and the mileage of tested car body carried out synchronism detection, host computer also is connected with the disk array of storage data.Host computer is put in order, shows, is stored the spatial attitude and the side-play amount of tested car body and external real-time Communication for Power.The velocity test instrument can be in GPS knotmeter, radar meter or the Doppler anemometer a kind of.
As Fig. 3 and shown in Figure 5, camera lens 42 external fixation of each high-speed camera instrument are provided with two prisms 43,44, make to be in of the repeatedly reflection of the interior tested track of field range, when projecting on the high-speed camera instrument CCD41, become two images that keep at a certain distance away through two prisms.
As shown in Figure 4, these two prisms are that parallelepiped is capable, and its two prism upper ends intersect prevents putting being inverted V-shaped.So, the horizontal position of rail level image in entire image is relevant with the transversal displacement of car body, and the interval variation amount of two images of rail level is relevant with variable in distance amount between CCD and the rail level.
As shown in Figure 2, for describing the operation attitude of car body 20, set up the rail level system of axes of any time, initial point O ' is positioned at the mid point of right side rail track 31 end faces always and does moving of working direction along track 31,32 synchronously with car body; X ' axle is positioned at rail level and points to the car body service direction; Z ' axle vertical rails faces down; Y ' axle and rail level are on same plane, and vertical X ' axle and Z ' axle, point to by right-hand screw rule and determine.The four measuring point, the point of promptly placing video camera is respectively 11,12,13,14.
Above-mentioned four measuring points are except inside and outside the same plane that can not be installed in vertical rail surface, can be distributed on the car body other and be convenient to the position installing and measure, can detect and decomposite the drifting along of car body, yaw, nod, shake the head and rolling.According to the actual conditions of most of car body, below analyze and all be arranged in the situation that same plane below the car body underframe, each measuring point order line can form rectangle by four measuring points and consider.If certain check point is a P when static state
I0(i=1,2,3,4), t correspondence position constantly is P
It(i=1,2,3,4).
As Fig. 6 to each figure shown in Figure 8, the state when dotted line represents that each measuring point does not have side-play amount, solid line is represented the t state of car body constantly.
Owing to needn't consider the influence of longitudinal vibration, therefore only need to analyze the yaw Δ Y of car body
t, Δ Z drifts along
t, sidewinder ψ
i, θ nods
iWith the φ that shakes the head
iVibration, the vertical deviation of arbitrary measuring point mainly by the drifting along of car body, sidewinder with pitching and cause, cross travel by the yaw of car body, sidewinder with yawing and cause.Because under the actual conditions, nod, shake the head and survey to roll the angle all very little, therefore can independently find the solution each corner by following calculating.Subscript c in following diagram and the formula represents the initial value that recorded by single measuring point.
The deflection graph of overlooking for car body as Fig. 6, to being calculated as follows of the angle φ that shakes the head:
ΔY
42tc＝Y
2tc-Y
4tc
φ
t＝arctan(ΔY
42tc/L)
The angle shake the head shown in Fig. 6 for negative.
As Fig. 7 is the deflection graph of car body side-looking, to being calculated as follows of a brilliance θ:
Getting the initial value that second measuring point and the 4th measuring point record calculates and can get:
ΔZ
42tc＝Z
2tc-Z
4tc
θ
t＝arctan(ΔZ
42tc/L)
As Fig. 8 is the deflection graph of car body forward sight, to being calculated as follows of angle of roll ψ:
If P
10With P
30Distance in the Y direction is W, then:
ΔZ
43tc＝Z
3tc-Z
4tc
ψ
t＝arctan(ΔZ
43tc/L)
The angle of roll shown in Figure 8 is for negative.
For determining of translational movement:
Any time t, each measuring point detects Y
ItcAnd Z
ItcAccording to image-forming principle, the influence at angle is rolled in consider to shake the head angle, the some brilliance and survey, at Y direction variable quantity:
ΔY
it＝Y
it-Y
i0＝Y
itc·cosφ·(1+Z
itc·sinψ)-Y
i0；
At Z direction variable quantity:
ΔZ
it＝Z
it-Z
i0＝Z
itc·cosθ·cosψ-Z
i0
If with the 4th measuring point is bench mark, then the translational component of car body is Δ Y
4t, Δ Z
4t
The above-mentioned data of all not using the 1st measuring point in various, therefore the data of the 1st measuring point can be used to check in addition the correctness of the data that three measuring point datas record.
After obtaining the operation attitude of car body, can analyse by the movement of Rigid Body credit and obtain the dynamic offset that any P is ordered.
So, can calculate the dynamic position of car body profile, it is projected to O ' Y ' Z ' plane of rail level system of axes, can obtain the Dynamic Envelope of this moment car body, again Dynamic Envelope and gauge section are compared, can judge whether near or exceed the part of gauge, and can according near or exceed degree, carry out the early warning or the warning of different stage.
In addition, for the bigger Heavy Duty Freight Car of transversal displacement, can adopt the guide rail actuating device to strengthen detection range.According to vehicle structure form and size, under normal circumstances, the detection range of check point transversal displacement is in ± 200mm.Because Heavy Duty Freight Car is when less excessively curve, the transversal displacement of measuring point may when therefore Heavy Duty Freight Car being detected, can increase track drive mechanism to increase detection range much larger than this detection range.
Claims (10)
1. railway locomotive and vehicle operating attitude measurement system, the image sequence of rail top face when adopting the high-speed camera instrument to obtain train operation is characterized in that described measuring system comprises:
One group of high-speed camera instrument that on non-colinear at least three points of tested car body, install to be provided with, relative tested vechicle running body track setting of described high-speed camera instrument and the orbital image sequence when being used to absorb train operation;
Image acquisition and processing module, this module receives described orbital image sequence, and the rail image sequence that obtains of the high-speed camera instrument of analyzing each point, obtain the side-play amount of each point, and determine spatial attitude and the side-play amount of tested car body with respect to two tracks with respect to track.
2. railway locomotive and vehicle operating attitude measurement system according to claim 1, the point that it is characterized in that described installation high-speed camera instrument is four, described four points are installed in the non-same plane with vertical rail surface.
3. railway locomotive and vehicle operating attitude measurement system according to claim 1, the camera lens external fixation that it is characterized in that described high-speed camera instrument is provided with two prisms, make and be in of the repeatedly reflection of the interior testee of field range through two prisms, when projecting on the high-speed camera instrument CCD, become two images that keep at a certain distance away.
4. railway locomotive and vehicle operating attitude measurement system according to claim 1, it is characterized in that described railway locomotive and vehicle operating attitude measurement system further comprises initiatively light source, described active light source and high-speed camera instrument are equipped with, initiatively the orbital region of the described high-speed camera instrument of light source irradiation capture.
5. railway locomotive and vehicle operating attitude measurement system according to claim 4 is characterized in that initiatively light source is the monochromatic LED array, described active light source with become the triangle reflective relation between capture track, the high-speed camera instrument CCD.
6. railway locomotive and vehicle operating attitude measurement system according to claim 5, it is characterized in that described high-speed camera instrument further is provided with narrow band pass filter outward, described narrow band pass filter incides on the high speed projector light intensity at least 60% through the active light source after the rail level reflection, and incides ratio on the high speed projector less than 3% through the surround lighting after the object reflection in capture zone.
7. railway locomotive and vehicle operating attitude measurement system according to claim 1, it is characterized in that described measuring system further comprises a synchronous controller, described synchronous controller is controlled on described four points and to be installed that the high-speed camera instrument that is provided with carries out time lock and image data is synchronous.
8. railway locomotive and vehicle operating attitude measurement system according to claim 1, it is characterized in that described measuring system further comprises a host computer and speed acquisition equipment, described host computer connects described image acquisition and processing module, and the spatial attitude and the side-play amount of tested car body are put in order, show, stored and external real-time Communication for Power.
9. railway locomotive and vehicle operating attitude measurement system according to claim 8 is characterized in that described speed acquisition equipment comprises GPS knotmeter, radar meter or Doppler anemometer.
10. railway locomotive and vehicle operating attitude measurement system according to claim 1, it is characterized in that described measuring system further is provided with the guide rail actuating device on described tested car body, this device is made up of high precision guide rail, slide block, screw mandrel, absolute encoder and stepping motor and control system thereof; Described guide rail actuating device is fixed on described tested car body, described high-speed camera instrument and active light source are fixed on the slide block, slide block can slide on guide rail through driving, when the transversal displacement of tested car body reaches certain numerical value, this actuating device driving sliding block drives the high-speed camera instrument and an active light source moves to the traversing opposite sense of car body, on this actuating device, adopt absolute encoder to detect the number of turns that leading screw rotates simultaneously, thereby obtain the traversing amount that slide block is the high-speed camera instrument.
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Assignee: SHANGHAI TM SENSOR CO., LTD. Assignor: Central South University Contract record no.: 2012310000017 Denomination of invention: Railway locomotive and vehicle operating attitude measurement system Granted publication date: 20101215 License type: Common License Open date: 20091118 Record date: 20120217 |