CN102030016A - Structured light vision-based track irregularity state detection method - Google Patents
Structured light vision-based track irregularity state detection method Download PDFInfo
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- CN102030016A CN102030016A CN2010105301863A CN201010530186A CN102030016A CN 102030016 A CN102030016 A CN 102030016A CN 2010105301863 A CN2010105301863 A CN 2010105301863A CN 201010530186 A CN201010530186 A CN 201010530186A CN 102030016 A CN102030016 A CN 102030016A
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Abstract
The invention discloses a structured light vision-based track irregularity state detection method. In the structured light-based method, moving together with a carrier, an imaging sensor device acquires two-dimensional planar spatial geometrical deviations of detected tracks 100 under the dynamic load condition by sensing the change of a geometrical position between a reference light section 310 and a standard light section 210; and two sets of detection systems on the carrier are widely used for detecting the geometrical deviations of the left track and the right track respectively so as to acquire related planar geometrical deviation information of the left track and the right track. The method has more information quantity compared with light spot detection, can acquire height irregularity information of the track surfaces in the vertical direction, can acquire track direction irregularity information along the transverse directions of the tracks, has high detection precision and good instantaneity, and is convenient for installation and engineering.
Description
Technical field
The present invention relates to structural optical sight measurement technique and track traffic safety detection technology field, especially a kind of railroad track irregularity SPEED VISION method of inspection based on structured light.
Background technology
Track irregularity is present in the wheel track mating surfaces, can increase dynamic action between wheel and rail, and track irregularity is further increased, and forms vicious circle.Excessive track irregularity will cause the high vibration of wheel rail system, shorten the service life of vehicle and track component, reduce the stationarity of driving, jeopardize traffic safety when serious.Daily detection can not influence high speed railway transports normally, must adopt means efficiently.For the track irregularity status detection, the home and abroad is adopted the checking system that constitutes with the inertial reference principle mostly at present, but Strapdown Inertial System costs an arm and a leg, and volume is big, therefore has been subjected to certain limitation on large-scale application.The vision measurement technology has also obtained using and developing rapidly in rail detection system.Domestic Southwest Jiaotong University has carried out correlative study, and the place installs laser and line array CCD respectively at forward and backward wheel shaft, and laser direct irradiation CCD takes the method for direct detection laser facula side-play amount on imaging surface to detect track condition; Because only measure the change in location of hot spot, this method can only be obtained one-dimensional space information.Different with above-mentioned vision measuring method, the present invention adopts structured light vision method for measuring, use two laser line generators to shine the rail rail level respectively, obtain two-strip structure light section, the relative spacing of obtaining two light by CCD visual imaging device changes the two-dimensional space feature that changes with angle, detects that being uneven of track is suitable, rail is to states such as irregularity, horizontal irregularity and twist of tracies.
Summary of the invention
In view of the above shortcoming of prior art, the purpose of this invention is to provide a kind of track irregularity method of inspection, the advantage of make it to have low cost, high speed being measured, the survey precision height reaches easy realization, system and device simple installation based on structural optical sight.
The objective of the invention is to realize by following means.
A kind of track irregularity condition detection method based on structural optical sight, it is characterized in that, the side is provided with a line source 200 with institute's survey track 100 plane vertical direction in orbit, described line source 200 launch vertical with orbit plane and on orbit plane the projection be one with the perpendicular straight line light section of track length direction, described straight line light section is a reference light section 210; Parallel the position above the track of range line light source 200 1 segment distance L and with orbit plane another line source 300 is set, line source 300 is launched and is incident upon on the orbit plane and parallels with reference light section 210 and at a distance of being the reference light section 310 of D; Near line source 200, be arranged to the variable in distance of image-position sensor spare sensing reference light section 210 and reference light section 310; Line source 200, line source 300 and described imaging sensor spare are fixedly installed on the means of delivery that slides along track, with described means of delivery motion, imaging sensor spare is known the two dimensional surface space geometry deviation of institute's survey track 100 under the dynamic load situation by the variation of sensing reference light section 310 and 210 geometric positions of reference light section.
Based on the method for structured light, with described means of delivery motion, imaging sensor spare is known the two dimensional surface space geometry deviation of institute's survey track 100 under the dynamic load situation by the variation of sensing reference light section 310 and 210 geometric positions of reference light section; More widely-used can two on means of delivery cover checking system respectively to about the track geometry deviation of two tracks detect, thereby two track correlation plane geometrical deviation information about obtaining.
The practice eaily that realizes the object of the invention is: railway locomotive is thought means of delivery, near infrared laser line source 200, line source 300 are arranged on the axle box of forward and backward wheel shaft of the same bogie truck of locomotive, and imaging sensor spare is arranged near the line source 200.Use the laser of two near infrared bands, they are installed in respectively on the axle box of forward and backward wheel shaft of the same bogie truck of train.Laser emission outlet line source is adjusted the laser angle, and the laser wire harness is all shone near the rail level of front wheel spindle, and two laser rays shine on same the rail, form the projection of two light.Use two high-speed imaging devices, (can adopt CMOS or CCD chip as sensor) is installed on the axle box of same bogie truck front wheel spindle, and along the track length direction symmetry.Obtain the image of two ray casts on the rail level with two high speed imaging detectors.Because laser and imaging detector all are installed on the axle box of the same bogie truck of train, their relative position is fixed.For being rigidly connected, when moving, if track irregularity is arranged, the two groups of wheels in front and back will produce micro-displacement at left and right directions or height direction at train between the axle box of train and the wheel.At this moment, because two lasers are installed in respectively on the forward and backward wheel shaft, the relative spacing and the angle that shine between two laser beams of rail level will change.Two imaging devices obtain the image of two light on the rail level, detect the variation of track irregularity state by calculating its variable quantity.Identical system is installed in respectively on the left and right wheel shaft of train with two covers, can make judgement to the comprehensive irregularity state of track, as horizontal irregularity and twist of track.
This method combines structured light and vision measurement technology, shines rail level laser lines relative position by analysis and changes, and obtains track condition and changes.In actual use, the present invention has following advantage: all devices are installed the position, back and structure is fixed the no-raster device; Obtain the two-dimentional change information of track under dynamic load by laser lines formation method, because the laser lines have the more information amount than hot spot point, both can obtain rail level being uneven along information of vertical direction, can obtain again along the horizontal rail of track to irregularity information.State variation situations such as obtaining track horizontal irregularity along the line, twist of track also can be comprehensively judged in the variation of two track irregularity states about the present invention both can measure respectively.In addition, the present invention can use the cmos imaging device, is output as data image signal, then need not to carry out digital collection, has saved the traditional CCD of use formation method with the process of analog signal conversion as digital signal, can improve the system real time energy.The present invention uses equipment cost low, easy for installation, is convenient to through engineering approaches.
Description of drawings
The scheme drawing of Fig. 1 the inventive method.
Laser and camera position concern scheme drawing in Fig. 2 the inventive method.
The rail of Fig. 3 the inventive method detects scheme drawing to irregularity.
Being uneven of Fig. 4 the inventive method along detecting scheme drawing.
The compound irregularity of Fig. 5 the inventive method double track detects scheme drawing.
Fig. 6 the inventive method overall work block diagram.
The specific embodiment
Embodiments of the present invention is further illustrated below in conjunction with accompanying drawing.
In conjunction with Fig. 1 and Fig. 2, the situation of installing and using when the present invention adopts railway locomotive to be means of delivery is an example, line source 200 and 300 is respectively the laser line generator of two near infrared bands, imaging sensor spare is served as by two high- speed imaging devices 220 and 230 respectively, and the laser that two lasers are launched shines rail level and forms laser lines 210 and 310.The laser 300 of near infrared band is installed on the axle box 420 of train bogie truck hind axle, laser is launched line source, adjust the laser angle, light beam line is shone near the rail level front-wheel 411 runnings surface of wheeltrack, form reference light section 310, less interval (as 3 centimetres) is arranged with light line 210.This gap size should satisfy following conditions: make two laser lines under testing conditions, can both be in imaging detector complete blur-free imaging.With the laser line generator 200 of near infrared band and two CMOS(or CCD) imaging device 220 and 230 is installed on the axle box 410 of train bogie truck front wheel spindle, respectively in the both sides of laser 200, and, obtain the image of two light sections on the rail level along track 100 length direction symmetries.Laser 200 sends the line laser bundle, shines rail level with vertical angle, the reference light section 210 that forms perpendicular to track length direction.For the relative position of two light sections of accurate Calculation, need carry out precision calibration to camera lens, calibration process can be carried out before pick up camera is installed, and only need bring calibrating parameters into and calculate when real-world operation, can not influence the real-time performance of system.As Fig. 2, laser 200 is vertical with rail level, and when train operation, the image space of reference light section 210 in two pick up cameras fixed, with it as datum line.Laser and imaging detector all are installed on the axle box of train bogie truck, and their relative position is fixed.
The laser that two lasers are launched shines rail level and forms the laser lines.In the train real-world operation, the bias light that shines rail level may be stronger, the imaging line is formed larger interference, the present invention adopts the laser of near infrared band, and filter is installed before imaging lens, and can eliminate the interference that strong bias light brings, strengthen the contrast ratio of laser line image, thereby reduced the later image treatment step, improved systematic survey real-time and survey precision.
When track occurs being uneven when showing respect for what others feel condition, wheel shaft changes at the relative position of vertical direction before and after the train, thereby the characteristic line spacing is changed.For example: the elemental height of front and back wheel shaft relative orbit all is H, at operational process, there is small rising Δ d the position of hind axle respective carter, it is constant substantially that then laser 200 shines the position of reference light section 210 of track, and laser 300 to shine that the spacing of position relative datum light section 210 of the reference light section 310 of track increases by D1 be D2(such as Fig. 3).Variation by analyzing this spacing can be made judgement to dynamically the be uneven condition of showing respect for what others feel of single track.Except that the intersegmental distance D of two light changes, can also detect the intersegmental parallelism of light changes, if horizontal slight curves takes place in the track of two axles correspondence position, the intersegmental parallelism of light changes, then two cooresponding angles of light line change (as Fig. 4), can make analysis to the irregularity situation to rail by the variation of analyzing this angle.
In conjunction with Fig. 5 and Fig. 6, the present invention settles the identical checking system of two cover configurations among Fig. 5 on means of delivery: the geometrical deviation of 220,230 pairs of left side tracks 100 of laser 200,300 and high speed imaging unit detects, and the track geometry deviation of 250, the 260 pairs of the right in laser 320,240 and high speed imaging unit track 110 detects.With about the irregularity information of two tracks carry out comprehensive treatment, two track correlation plane geometrical deviation information about calculating, thus obtain track compound irregularity status information along the line.Image processing shown in Figure 6 and data processing unit 500 and 510 carry out pretreatment to the view data that left and right sides track obtains respectively, as: image filtering, image carries out lens distortion calibration, characteristic line extracts and data filtering is handled to obtaining.Carry out data analysis respectively by monorail irregularity state computation unit 600 and 610, calculate the relative spacing and the angle variable quantity of two characteristic lines in real time, judge left and right track irregularity situation respectively, this result can be sent to output interface unit 800 in real time, carries out data storage or demonstration.Two single track irregularity state computation unit 600 and 610 result of calculation are sent into the compound irregularity state of double track COMPREHENSIVE CALCULATING unit 700, judge the compound irregularity state of double track, and the result is delivered to output interface unit 800, carry out data storage or demonstration.
Comprehensive above statement, the present invention has following feature: 1). and the present invention adopts method of structured light, under the dynamic load situation, obtains the laser line image that shines rail level, calculate its spacing and relative angle and change, the track irregularity situation is carried out Real-time and Dynamic Detection.This method has simple in structure, easy for installation, need not manual intervention, in real time the characteristics of measuring.2). the present invention adopts the laser rays bar as characteristic curve, obtains its variation in the two dimensional surface space, has abundanter information with respect to laser facula.Can detect single track by the variation of analyzing two laser feature lines relative spacings and angle and be uneven genial rail to the irregularity situation.3). the present invention both can be suitable to being uneven of left and right track respectively, rail detects to irregularity, also can pass through comprehensive analyses, and compound irregularities such as the horizontal irregularity of track, twist of track are detected.4). the present invention adopts the filter and the higher imaging sensor of near infrared band sensitivity of near infrared band linear laser source, corresponding wavelength, can obtain the laser line image of high-contrast, can adapt to outdoor strong bias light condition.
It is above that what state only is the preferred implementation of the inventive method, should be understood that, under the prerequisite that does not break away from the inventive method essence, in reality is implemented, can make some changes (such as change employed laser illumination to the angle of rail level, highly; Perhaps change height, the angle of high-speed imaging device; Or the wavelength band of change laser, filter and imaging detector etc.), the present invention promptly can be used for detecting in real time the track irregularity situation in addition, also can be used to analyze the defective of running surface of wheeltrack; Means of delivery can also can should be included in protection scope of the present invention for other special-purpose velocipede for railway locomotive.
Claims (6)
1. track irregularity condition detection method based on structural optical sight, it is characterized in that, the side is provided with a line source (200) with institute's survey track (100) plane vertical direction in orbit, described line source (200) launch vertical with orbit plane and on orbit plane the projection be one with the perpendicular straight line light section of track length direction, described straight line light section is reference light section (210); In the track of range line light source (200) one segment distance L top and parallel the position with orbit plane another line source (300) is set, line source (300) is launched and is incident upon on the orbit plane and parallels with reference light section (210) and at a distance of being the reference light section (310) of D; Near line source 200, be arranged to the variable in distance of image-position sensor (comprising component driving circuit) sensing reference light section (210) and reference light section (310); Line source (200), line source (300) and described imaging sensor spare are fixedly installed on the means of delivery that slides along track, with described means of delivery motion, imaging sensor spare is known the two dimensional surface space geometry deviation of institute's survey track (100) under the dynamic load situation by the variation of geometric position between sensing reference light section (310) and reference light section (210).
2. the track irregularity condition detection method based on structural optical sight according to claim 1, it is characterized in that the variation of geometric position comprises that the intersegmental distance D of two light changes and the intersegmental parallelism of light changes between described reference light section (310) and reference light section (210).
3. the track irregularity condition detection method based on structural optical sight according to claim 1, it is characterized in that, on the described means of delivery two cover checking system respectively to about the track geometry deviation of two tracks detect, by two track correlation plane geometrical deviation information about COMPREHENSIVE CALCULATING, thus the compound irregularity status information of acquisition track.
4. the track irregularity condition detection method based on structural optical sight according to claim 1, it is characterized in that, with the railway locomotive is means of delivery, near infrared band laser line source (200), line source (300) are arranged on the axle box of forward and backward wheel shaft of the same bogie truck of locomotive, and imaging sensor spare (220,230) is arranged near the line source (200).
5. the track irregularity condition detection method based on structural optical sight according to claim 4 is characterized in that described imaging sensor spare is CMOS or CCD imaging device, and this imaging sensor can adopt surface array device or line array.
6. the track irregularity condition detection method based on structural optical sight according to claim 5 is characterized in that, is provided with filter before the imaging lens of described imaging device.
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| CN102252633A (en) * | 2011-05-05 | 2011-11-23 | 陕西威蓝工业自动化有限公司 | Method for measuring track direction and horizontal irregularity based on plot points |
| CN102507587A (en) * | 2011-09-20 | 2012-06-20 | 株洲南车时代电气股份有限公司 | Perambulated inspection system and method |
| CN102622519A (en) * | 2012-03-09 | 2012-08-01 | 北京交通大学 | Method for estimating safety domain of track irregularity amplitude |
| CN103174072A (en) * | 2011-12-26 | 2013-06-26 | 同济大学 | Rail surface detection method based on asymmetrical chord offset method |
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| CN113446982A (en) * | 2021-06-24 | 2021-09-28 | 中国铁道科学研究院集团有限公司 | Dynamic calibration method and device for track geometry detection system |
| CN113548068A (en) * | 2021-07-23 | 2021-10-26 | 中车长春轨道客车股份有限公司 | Rail surface irregularity detection device and detection method |
| CN113548068B (en) * | 2021-07-23 | 2023-09-12 | 中车长春轨道客车股份有限公司 | Rail surface irregularity detection device and detection method |
| CN113776461A (en) * | 2021-09-09 | 2021-12-10 | 北京京东乾石科技有限公司 | Three-dimensional detection equipment for detecting surface of track |
| CN114088434A (en) * | 2021-11-18 | 2022-02-25 | 南京铁道职业技术学院 | System and method for detecting wheel axle vibration of urban rail vehicle based on laser ranging |
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Application publication date: 20110427 |