CN102602425B - Locomotive limiting system and calibration method thereof - Google Patents
Locomotive limiting system and calibration method thereof Download PDFInfo
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- CN102602425B CN102602425B CN201210094303.5A CN201210094303A CN102602425B CN 102602425 B CN102602425 B CN 102602425B CN 201210094303 A CN201210094303 A CN 201210094303A CN 102602425 B CN102602425 B CN 102602425B
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Abstract
The invention discloses a locomotive limiting system and a calibration method thereof. The locomotive limiting system is characterized in that platform supports are mounted at two ends of a moving platform, a large lead screw is penetratingly mounted on the platform supports, a large guide rail is mounted on the moving platform, a first panel is mounted on the large guide rail and moves on the large guide rail under the traction of the large lead screw, a moving bottom plate is mounted on the first panel, bottom plate supports are mounted at two ends of the moving bottom plate, a small lead screw and a small guide rail are mounted on the moving bottom plate, a second panel is mounted on the small guide rail, and the second panel moves on the small guide rail under the traction of the small lead screw. An L-shaped support is mounted on the second panel, a laser distance measuring sensor is mounted on the L-shaped support, a large motor is mounted on the platform supports through a first motor support and is in transmission by the aid of matching of a coupler therein and the large lead screw, a small motor is mounted on the bottom plate supports through a second motor support and is in transmission by the aid of matching of a coupler therein and the small lead screw.
Description
Technical field
The present invention relates to demarcation field, particularly a kind of vehicle gauge of the locomotive system and calibration method thereof.
Background technology
Vehicle gauge of the locomotive measurement problem is significant problem urgently to be resolved hurrily under train speed raising background.This class is measured the more conventional dimensional measurement of problem and is faced more complicated technical barrier, outstanding behaviours is aspect following two: the one, need to take into account two aspects of measuring speed and survey precision, in the compartment key position section gauge of more than 20 meter long, a joint, realize high-acruracy survey, there is very large difficulty; The 2nd, the high complexity in tested crucial cross section, most of traditional contact type measurement means, due to the limitation of self, cannot complete measurement task efficiently, accurately.
Contactless measurement is developed rapidly in recent years, and it has advantages of that survey precision is high, it is high to measure efficiency, but not yet becomes the main stream approach that vehicle gauge of the locomotive is measured.At present, the system that domestic railway interests carries out vehicle gauge of the locomotive measurement still adopts traditional contact type measurement system, most typical is fixed gate shape support frame above rail, and only axle turnable moving gauge is dull and stereotyped vertically to fix respectively one on support frame both sides, and an only axle turnable moving gauge flat board is placed perpendicular to rail direction in dell edge below rail.Existing method of measurement is by measuring the distance between car body outside face and dull and stereotyped border, just can obtain the distance of car body and existing gauge standard.
Shortcoming and defect below contriver at least exists find prior art in realizing process of the present invention in:
Existing gauge system measurement method is according to inspection requirements, pointwise, progressively uses Steel Ruler hand dipping, has speed slow, the problem such as precision is low, and labour intensity is large.
Summary of the invention
The invention provides a kind of vehicle gauge of the locomotive system and calibration method thereof, the present invention has improved measuring speed and precision, has reduced labour intensity, described below:
A vehicle gauge of the locomotive system, comprising: door shape support frame, in two heel post medial surfaces, upper cross-beam lower surface and the lower crossbeam upper surface of described door shape support frame, mobile platform is installed; Each erecting stage support at the two ends of described mobile platform, is provided with large leading screw through described platform support, and large guide rail is installed on described mobile platform; On described large guide rail, the first flat board is installed, described the first flat board is by moving on the described large guide rail of being pulled in of described large leading screw; On described the first flat board, movable base plate is housed, each mounting base support of the two ends of described movable base plate; Little leading screw and little guide rail are installed on described movable base plate, on described little guide rail, the second flat board are installed, described the second flat board is by moving on the described little guide rail of being pulled in of described little leading screw; On described the second flat board, L-type support is installed, on described L-type support, laser range sensor is installed; On described platform support, by the first electric machine support, large motor is installed, described large motor is coordinated and realizes transmission with described large leading screw by inner drive coupling; On described mount holder, by the second electric machine support, small machine is installed, described small machine is coordinated and realizes transmission with described little leading screw by inner drive coupling.
Described mobile platform consists of the stepped flat board of piece.
It is stepped one-body molded that described movable base plate becomes.
Said method comprising the steps of:
(1) calliper that one end is had the fixed vertical position relationship other end move is fixed on parallel rail, obtains and calculate the intersection equation L of described parallel rail the first upper surface C1 and the first medial surface C2;
Wherein, C1 is A1x+B1y+C1z=1, and C2 is A2x+B2y+C2z=1, calculates the intersection equation L of parallel rail the first upper surface C1 and the first medial surface C2 by C1 and C2:
(A1, B1, C1) is the normal vector of described the first upper surface C1; (A2, B2, C2) is the normal vector of described the first medial surface C2;
(2) described calliper fixed end is changed to described parallel rail opposite side and fixed, repeated execution of steps (1) is obtained the intersection equation L ' of described parallel rail the second upper surface C1 ' and the second medial surface C2 ';
Wherein, (A1 ', B1 ', C1 ') be the normal vector of described the second upper surface C1 '; (A2 ', B2 ', C2 ') be the normal vector of described the second medial surface C2 '; (x, y, z) is L, the upper Point Coordinates of L ';
(3) by described intersection equation L and L ', determine described parallel rail upper surface normal vector, parallel rail upper surface equation is demarcated as to the XOY face of parallel rail system of axes, again split A0 ' x+B0 ' y+C0 ' z=1 of parallel rail the first medial surface C2 and the second medial surface C2 ' is demarcated as to XOZ face, by cross arbitrary described laser range sensor target seat zero point and with equal vertical the 3rd plane reference A0 " x+B0 " y+C0 of parallel rail upper surface XOY and split XOZ " z=1 is YOZ plane;
Wherein, described parallel rail upper surface normal vector is specially:
(A0.B0.C0)＝((A1,B1,C1)×(A2,B2,C2))×((A1′,B1′,C1′)×(A2′,B2′,C2′))
Described parallel rail upper surface equation is specially: A0x+B0y+C0z=1;
(4) translation by system of axes and rotation transformation by tracker coordinate system transformation to rail plane coordinate system;
(5) by described rail plane coordinate system obtain described laser range sensor target point initial position and using its as calculation starting point, by upper computer, send continuous gauging instruction, make described laser range sensor Chang Liang, mobile described laser range sensor is to preset height, described laser tracker is measured described in current location the coordinate of preset range on target point coordinate on laser range sensor and radiation direction, coordinate fitting by the preset range of measuring goes out equations of light ray, and calculates the vertical offset that current location target is put light;
(6) by described upper computer, send movement instruction, described laser range sensor is moved to the other end of described little leading screw, described laser tracker is measured the preset range target point coordinate in described laser range sensor motion process, again by laser range sensor back to zero described in described PC control, and control the other end that described laser range sensor moves to described large leading screw, the same target point coordinate of measuring preset range in described laser range sensor motion process, by the target point coordinate recording for twice, simulated respectively the direction vector of described little leading screw and described large leading screw,
(7) repeated execution of steps (5) and step (6), obtain the initial position target point coordinate, current location target point of other 5 laser range sensors to the direction vector of the vertical offset of light, the ray vectors in equations of light ray, described little leading screw and described large leading screw;
(8) described upper computer is processed calibrating parameters, again demo plant is fixed on tripod, by described upper computer, read the laser spots three-dimensional coordinate of current location, and with described laser tracker, obtain the D coordinates value of three tracker ball seat centers in described demo plant current location;
(9) described laser tracker obtains the three-dimensional coordinate of gauge point according to the D coordinates value of the described demo plant gauge point of demarcating in advance and the geometry site of three tracker ball seat centers and three laser tracker ball seat centers of current location;
(10) three-dimensional coordinate of the gauge point that the three-dimensional coordinate of the gauge point of described vehicle gauge of the locomotive system being measured and described laser tracker are measured is compared, and obtains error.
The described calliper that has the fixed vertical position relationship other end to move one end is fixed on parallel rail, and the intersection equation L that obtains and calculate described parallel rail the first upper surface C1 and the first medial surface C2 is specially:
The calliper that has the fixed vertical position relationship other end to move one end is fixed on parallel rail, calliper lower surface and lateral surface are fitted with rail upper surface and medial surface respectively, with laser tracker, calibrate the coordinate of 4 target seats under laser tracker system of axes, according to the geometric relationship of demarcated in advance 4 target seats and calliper lower surface and lateral surface, obtain the equation of calliper lower surface and the equation of lateral surface and calculate the intersection equation L of parallel rail the first upper surface C1 and the first medial surface C2.
Described coordinate transform formula is (x ', y ', z ', 1)=(x, y, z, 1) * T (x0 ,-y0 ,-z0,1) * R
Wherein (A0 ', B0 ', C0 ')=(A2+A2 '/2, B2+B2 '/2, C2+C2 '/2),
(A0 ", B0 ", C0 ")=(A0, B0; C0) * (A0 ', B0 ', C0 '), T (x0 ;-y0 ,-z0,1) and R are respectively translation matrix and the rotation matrix that laser tracker coordinate is tied to rail plane coordinate system, and then obtain rail plane coordinate system.
Described demo plant is specially: the three-dimensional structure formula of step, comprising: the first terrace and the second terrace, be provided with two ball seats on described the first terrace; Described the second terrace is provided with a ball seat and laser pick-off cross mark, and described ball seat is used for placing laser tracker bead; Described laser pick-off cross mark is for receiving the laser spots of described laser range sensor.
The beneficial effect of technical scheme provided by the invention is:
The invention provides a kind of vehicle gauge of the locomotive system and calibration method thereof, the present invention has designed a kind of vehicle gauge system, and on the basis of vehicle gauge system, by intersection equation L and L ', determine parallel rail upper surface normal vector, parallel rail upper surface equation is demarcated as to the XOY face of parallel rail system of axes, again the split of parallel rail the first medial surface C2 and the second medial surface C2 ' is demarcated as to XOZ face, by cross arbitrary laser range sensor target seat zero point and with parallel rail upper surface XOY and split XOZ all vertical the 3rd plane reference be YOZ plane, the coordinate transform that is tied to rail system of axes by laser tracker coordinate can obtain rail system of axes, then calibrate big or small guide rail direction vector, ray vectors and target are put the vertical vector of radiation direction, complete like this system of having eliminated the error causing is installed, proof by experiment, the method survey precision can be brought up to ± 0.5mm, adopt this calibration method, greatly improve the flexibility that cubing is demarcated, by the big or small guide rail movable sensor of precision, measured, reduced labour intensity.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of vehicle gauge of the locomotive system provided by the invention;
Fig. 2 is the schematic diagram of setting up rail system of axes provided by the invention; Fig. 3 is the schematic diagram of demo plant provided by the invention;
Fig. 4 is the diagram of circuit of the calibration method for vehicle gauge of the locomotive system provided by the invention.
In accompanying drawing, the list of parts of each label representative is as follows:
1: door shape support frame; 2: mobile platform;
3: platform support; 4: large leading screw;
5: large guide rail; 6: the first flat boards;
7: movable base plate; 8: mount holder 8;
9: little leading screw; 10: little guide rail;
11: the second flat boards; 12:L type support;
13: laser range sensor; 14: the first electric machine supports;
15: large motor; 16: the second electric machine supports;
17: small machine.
The specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
In order to improve measuring speed and survey precision, reduce labour intensity, the embodiment of the present invention provides a kind of vehicle gauge of the locomotive system, described below:
Referring to Fig. 1, left side is partial enlarged drawing, and right side is entire system framework.Because vehicle gauge of the locomotive system architecture has symmetry, only the structure on right side has been carried out to local amplification here.
A vehicle gauge of the locomotive system, comprising: door shape support frame 1, in two heel post medial surfaces, upper cross-beam lower surface and the lower crossbeam upper surface of door shape support frame 1, mobile platform 2 is installed; Each erecting stage support 3 at the two ends of mobile platform 2, is provided with large leading screw 4 through platform support 3, and large guide rail 5 is installed on mobile platform 2; The first flat board 6, the first flat boards 6 are installed by motion on the large guide rail 5 of being pulled in of large leading screw 4 on large guide rail 5; On the first flat board 6, movable base plate 7 is housed, each mounting base support 8 of the two ends of movable base plate 7; Little leading screw 9 and little guide rail 10 are installed on movable base plate 7, the second flat board 11, the second flat boards 11 are installed on little guide rail 10 by motion on the little guide rail 10 of being pulled in of little leading screw 9; On the second flat board 11, L-type support 12 is installed, laser range sensor 13 is installed on L-type support 12; On platform support 3, by the first electric machine support 14, large motor 15 is installed, large motor 15 is coordinated and realizes transmission with large leading screw 4 by inner drive coupling; On mount holder 8, by the second electric machine support 16, small machine 17 is installed, small machine 17 is coordinated and realizes transmission with little leading screw 9 by inner drive coupling.
Wherein, during specific implementation, mobile platform 2 consists of 2 stepped flat boards.
Wherein, during specific implementation, large leading screw 4 is through 2 platform supports 3, and being fixed on platform support 3 by bearing.
Wherein, during specific implementation, the first flat board 6 coordinates with large guide rail 5 and large leading screw 4 by slide block and nut.
Wherein, during specific implementation, 7 one-tenth of movable base plates are stepped one-body molded.
In order to improve measuring speed and survey precision, reduce labour intensity, referring to Fig. 2, Fig. 3 and Fig. 4, the embodiment of the present invention provides a kind of calibration method based on vehicle gauge of the locomotive system, described below:
101: the calliper that has the fixed vertical position relationship other end to move one end is fixed on parallel rail, obtain and calculate the intersection equation L of parallel rail the first upper surface C1 and the first medial surface C2;
Wherein, C1 is A1x+B1y+C1z=1, and C2 is A2x+B2y+C2z=1, calculates the intersection equation L of parallel rail the first upper surface C1 and the first medial surface C2 by C1 and C2:
Wherein, (A1, B1, C1) is the normal vector of the first upper surface C1; (A2, B2, C2) is the normal vector of the first medial surface C2;
Wherein, this step 101 is specially: the calliper that has the fixed vertical position relationship other end to move one end is fixed on parallel rail, calliper lower surface and lateral surface are fitted with rail upper surface and medial surface respectively, with laser tracker, calibrate the coordinate of 4 target seats under laser tracker system of axes, according to the geometric relationship of demarcated in advance 4 target seats and calliper lower surface and lateral surface, obtain the equation of calliper lower surface and the equation of lateral surface and calculate the intersection equation L of parallel rail the first upper surface C1 and the first medial surface C2.
102: calliper fixed end is changed to parallel rail opposite side and fix, repeated execution of steps 101 is obtained the intersection equation L ' of parallel rail the second upper surface C1 ' and the second medial surface C2 ':
Wherein, (A1 ', B1 ', C1 ') be the normal vector of the second upper surface C1 '; (A2 ', B2 ', C2 ') be the normal vector of the second medial surface C2 '; (x, y, z) be straight line L or, the upper Point Coordinates of L '.
103: by intersection equation L and L ', determine parallel rail upper surface normal vector, parallel rail upper surface equation is demarcated as to the XOY face of parallel rail system of axes, again split A0 ' x+B0 ' y+C0 ' z=1 of parallel rail the first medial surface and the second medial surface is demarcated as to XOZ face, by cross 13 target seat zero points of laser range sensor and with equal vertical the 3rd plane A0 " x+B0 " y+C0 of parallel rail horizontal surface XOY and split XOZ " z=1 is demarcated as YOZ plane;
Wherein, parallel rail upper surface normal vector is specially:
(A0.B0.C0)＝((A1,B1,C1)×(A2,B2,C2))×((A1′,B1′,C1′)×(A2′,B2′,C2′))
Parallel rail upper surface equation is specially: A0x+B0y+C0z=1.
104: the translation by system of axes and rotation transformation by tracker coordinate system transformation to rail plane coordinate system;
Wherein, coordinate transform formula is (x ', y ', z ', 1)=(x, y, z, 1) * T (x0 ,-y0 ,-z0,1) * R
Wherein (A0 ', B0 ', C0 ')=(A2+A2 '/2, B2+B2 '/2, C2+C2 '/2),
(A0 ", B0 ", C0 ")=(A0, B0; C0) * (A0 ', B0 ', C0 '), T (x0 ;-y0 ,-z0,1) and R are respectively translation matrix and the rotation matrix that laser tracker coordinate is tied to rail plane coordinate system, and then obtain rail plane coordinate system.
105: by rail plane coordinate system obtain laser range sensor 13 target point initial positions and using its as calculation starting point, by upper computer, send continuous gauging instruction, make laser range sensor 13 Chang Liang, mobile laser range sensor 13 is to preset height, the coordinate of preset range on target point coordinate and radiation direction on laser tracker measurement current location laser range sensor 13, coordinate fitting by the preset range of measuring goes out equations of light ray, and calculates the vertical offset that current location target is put light;
Wherein, preset range determines according to the needs in practical application, and the embodiment of the present invention be take 6 to 10 points and described as example, and during specific implementation, the embodiment of the present invention does not limit this.
Wherein, preset height is set according to the needs in practical application, and the preset height in the embodiment of the present invention is chosen as 1m, and during specific implementation, the embodiment of the present invention does not limit this.
106: by upper computer, send movement instruction, laser range sensor 13 is moved to the other end of little leading screw 9, laser tracker is measured the preset range target point coordinate in laser range sensor 13 motion processes, again by PC control laser range sensor 13 back to zeros, and control the other end that laser range sensor 13 moves to large leading screw 4, the same target point coordinate of measuring preset range in laser range sensor 13 motion processes, is simulated respectively the direction vector of little leading screw 9 and large leading screw 4 by the target point coordinate recording for twice;
107: repeated execution of steps 105 and step 106, the initial position target point coordinate, current location target point that obtains other 5 laser range sensors 13 is to the direction vector of the vertical offset of light, ray vectors, little leading screw 9 and large leading screw 4 in equations of light ray;
Table 1 calibrating parameters
108: upper computer is processed calibrating parameters, again demo plant is fixed on tripod, by upper computer, read the laser spots three-dimensional coordinate of current location, and with laser tracker, obtain the D coordinates value of three tracker ball seat centers in demo plant current location;
Wherein, during specific implementation, the embodiment of the present invention is not done special setting to positional, according to the needs in practical application, sets.Demo plant in the embodiment of the present invention is specially: the three-dimensional structure formula of step, comprising: the first terrace and the second terrace, be provided with two ball seats on the first terrace; The second terrace is provided with a ball seat and laser pick-off cross mark, and ball seat is used for placing laser tracker bead; Laser pick-off cross mark is for receiving the laser spots of laser range sensor.
109: laser tracker obtains the three-dimensional coordinate of gauge point according to the D coordinates value of the demo plant gauge point of demarcating in advance and the geometry site of three laser tracker ball seat centers and three tracker ball seat centers of current location;
Wherein, during specific implementation, survey precision for further verification system, can adopt and repeatedly measure checking, for example: when adopting three checkings, comprise: current location checking, demo plant moves respectively the checking at first threshold and Second Threshold place along radiation direction, read respectively the laser spots three-dimensional coordinate at first threshold place and the D coordinates value of the D coordinates value of three tracker ball seat centers and the laser spots three-dimensional coordinate at Second Threshold place and three tracker ball seat centers, according to geometry site, the D coordinates value of three tracker ball seat centers of current location, the D coordinates value of the D coordinates value of three tracker ball seat centers, first threshold place and three tracker ball seat centers at Second Threshold place obtains the three-dimensional coordinate of three gauge points.
Wherein, the value of first threshold and Second Threshold is set according to the needs in practical application, and the embodiment of the present invention be take first threshold as 20mm, and Second Threshold is that 40mm is that example describes, and during specific implementation, the embodiment of the present invention does not limit this.
110: the three-dimensional coordinate of the gauge point that the three-dimensional coordinate of the gauge point that vehicle gauge of the locomotive system is measured and laser tracker are measured is compared, and obtains error.
Wherein, the experimental verification data of 6 laser range sensors are recorded in respectively to table 2 (a), (b), (c), (d), (e), (f) in.
No. 1 confirmatory experiment data of table 2 (a)
No. 2 confirmatory experiment data of table 2 (b)
No. 3 confirmatory experiment data of table 2 (c)
No. 4 confirmatory experiment data of table 2 (d)
No. 5 confirmatory experiment data of table 2 (e)
No. 6 confirmatory experiment data of table 2 (f)
Laser tracker in this method can adopt the AT901-LR product of Leica company, can certainly adopt the Accurate Calibration instruments such as other existing laser tracker or theodolite.After laser tracker is put well, laser tracker has been set up local Coordinate System, and can not mobile laser tracker.
By the analysis to above-mentioned data, the bring up to ± 0.5mm that can directly obtain survey precision, has met the needs in practical application.
In sum, the embodiment of the present invention provides a kind of vehicle gauge of the locomotive system and calibration method thereof, on the basis of vehicle gauge system, by intersection equation L and L ', determine parallel rail upper surface normal vector, parallel rail upper surface equation is demarcated as to the XOY face of parallel rail system of axes, again the split of parallel rail the first medial surface C2 and the second medial surface C2 ' is demarcated as to XOZ face, by cross arbitrary laser range sensor target seat zero point and with parallel rail upper surface XOY and split XOZ all vertical the 3rd plane reference be YOZ plane; The coordinate transform that is tied to rail system of axes by laser tracker coordinate can obtain rail system of axes, then calibrate big or small guide rail direction vector, ray vectors and target are put the vertical vector of radiation direction, complete like this system of having eliminated the error causing is installed, proof by experiment, the method survey precision can be brought up to ± 0.5mm, adopt this calibration method, greatly improve the flexibility that cubing is demarcated, by the big or small guide rail movable sensor of precision, measured, reduced labour intensity.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, the invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (7)
1. a vehicle gauge of the locomotive system, comprising: door shape support frame, is characterized in that, at two heel post medial surfaces, upper cross-beam lower surface and the lower crossbeam upper surface installation mobile platform of described door shape support frame; Each erecting stage support at the two ends of described mobile platform, is provided with large leading screw through described platform support, and large guide rail is installed on described mobile platform; On described large guide rail, the first flat board is installed, described the first flat board is by moving on the described large guide rail of being pulled in of described large leading screw; On described the first flat board, movable base plate is housed, each mounting base support of the two ends of described movable base plate; Little leading screw and little guide rail are installed on described movable base plate, on described little guide rail, the second flat board are installed, described the second flat board is by moving on the described little guide rail of being pulled in of described little leading screw; On described the second flat board, L-type support is installed, on described L-type support, laser range sensor is installed; On described platform support, by the first electric machine support, large motor is installed, described large motor is coordinated and realizes transmission with described large leading screw by inner drive coupling; On described mount holder, by the second electric machine support, small machine is installed, described small machine is coordinated and realizes transmission with described little leading screw by inner drive coupling.
2. a kind of vehicle gauge of the locomotive system according to claim 1, is characterized in that, described mobile platform consists of 2 stepped flat boards.
3. a kind of vehicle gauge of the locomotive system according to claim 1, is characterized in that, it is stepped one-body molded that described movable base plate becomes.
4. for a calibration method for a kind of vehicle gauge of the locomotive system claimed in claim 1, it is characterized in that, said method comprising the steps of:
(1) calliper that one end is had the fixed vertical position relationship other end move is fixed on parallel rail, obtains and calculate the intersection equation L of described parallel rail the first upper surface C1 and the first medial surface C2;
Wherein, C1 is A1x+B1y+C1z=1, and C2 is A2x+B2y+C2z=1, calculates the intersection equation L of parallel rail the first upper surface C1 and the first medial surface C2 by C1 and C2:
(A1, B1, C1) is the normal vector of described the first upper surface C1; (A2, B2, C2) is the normal vector of described the first medial surface C2;
(2) described calliper fixed end is changed to described parallel rail opposite side and fixed, repeated execution of steps (1) is obtained the intersection equation L' of described parallel rail the second upper surface C1 ' and the second medial surface C2 ';
Wherein, (A1', B1', C1') is the normal vector of described the second upper surface C1 '; (A2', B2', C2') is the normal vector of described the second medial surface C2 '; (x, y, z) is L, the upper Point Coordinates of L ';
(3) by described intersection equation L and L', determine described parallel rail upper surface normal vector, parallel rail upper surface equation is demarcated as to the XOY face of parallel rail system of axes, again the split A0'x+B0'y+C0'z=1 of parallel rail the first medial surface C2 and the second medial surface C2 ' is demarcated as to XOZ face, by cross arbitrary described laser range sensor target seat zero point and with equal vertical the 3rd plane reference A0 " x+B0 " y+C0 of parallel rail upper surface XOY and split XOZ " z=1 is YOZ plane;
Wherein, described parallel rail upper surface normal vector is specially:
(A0,B0,C0)＝((A1,B1,C1)×(A2,B2,C2))×((A1',B1',C1')×(A2',B2',C2'))
Described parallel rail upper surface equation is specially: A0x+B0y+C0z=1;
(4) translation by system of axes and rotation transformation by tracker coordinate system transformation to rail plane coordinate system;
(5) by described rail plane coordinate system obtain described laser range sensor target point initial position and using its as calculation starting point, by upper computer, send continuous gauging instruction, make described laser range sensor Chang Liang, mobile described laser range sensor is to preset height, laser tracker is measured described in current location the coordinate of preset range on target point coordinate on laser range sensor and radiation direction, coordinate fitting by the preset range of measuring goes out equations of light ray, and calculates the vertical offset that current location target is put light;
(6) by described upper computer, send movement instruction, described laser range sensor is moved to the other end of described little leading screw, described laser tracker is measured the preset range target point coordinate in described laser range sensor motion process, again by laser range sensor back to zero described in described PC control, and control the other end that described laser range sensor moves to described large leading screw, the same target point coordinate of measuring preset range in described laser range sensor motion process, by the target point coordinate recording for twice, simulated respectively the direction vector of described little leading screw and described large leading screw,
(7) repeated execution of steps (5) and step (6), obtain the initial position target point coordinate, current location target point of other 5 laser range sensors to the direction vector of the vertical offset of light, the ray vectors in equations of light ray, described little leading screw and described large leading screw;
(8) described upper computer is processed calibrating parameters, again demo plant is fixed on tripod, by described upper computer, read the laser spots three-dimensional coordinate of current location, and with described laser tracker, obtain the D coordinates value of three tracker ball seat centers in described demo plant current location;
(9) described laser tracker obtains the three-dimensional coordinate of gauge point according to the D coordinates value of the described demo plant gauge point of demarcating in advance and the geometry site of three tracker ball seat centers and three laser tracker ball seat centers of current location;
(10) three-dimensional coordinate of the gauge point that the three-dimensional coordinate of the gauge point of described vehicle gauge of the locomotive system being measured and described laser tracker are measured is compared, and obtains error.
5. method according to claim 4, it is characterized in that, the described calliper that has the fixed vertical position relationship other end to move one end is fixed on parallel rail, and the intersection equation L that obtains and calculate described parallel rail the first upper surface C1 and the first medial surface C2 is specially:
The calliper that has the fixed vertical position relationship other end to move one end is fixed on parallel rail, calliper lower surface and lateral surface are fitted with rail upper surface and medial surface respectively, with laser tracker, calibrate the coordinate of 4 target seats under laser tracker system of axes, according to the geometric relationship of demarcated in advance 4 target seats and calliper lower surface and lateral surface, obtain the equation of calliper lower surface and the equation of lateral surface and calculate the intersection equation L of parallel rail the first upper surface C1 and the first medial surface C2.
6. method according to claim 5, is characterized in that, coordinate transform formula is (x ', y ', z ', 1)=(x, y, z, 1) * T (x0 ,-y0 ,-z0,1) * R
Wherein (A0', B0', C0')=(A2+A2'/2, B2+B2'/2, C2+C2'/2),
(A0 ", B0 ", C0 ")=(A0, B0; C0) * (A0', B0', C0'), T (x0 ;-y0 ,-z0,1) and R are respectively translation matrix and the rotation matrix that laser tracker coordinate is tied to rail plane coordinate system, and then obtain rail plane coordinate system.
7. method according to claim 5, is characterized in that, described demo plant is specially: the three-dimensional structure formula of step, comprising: the first terrace and the second terrace, be provided with two ball seats on described the first terrace; Described the second terrace is provided with a ball seat and laser pick-off cross mark, and described ball seat is used for placing laser tracker bead; Described laser pick-off cross mark is for receiving the laser spots of described laser range sensor.
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| CN106643560A (en) * | 2017-02-14 | 2017-05-10 | 成都蓬诚实业发展有限公司 | Intelligent gauge detection device |
| CN108955527A (en) * | 2018-07-28 | 2018-12-07 | 天津大学 | High-iron carriage Static Gauge measurement method based on laser radar |
| CN110481592B (en) * | 2019-08-30 | 2020-06-26 | 中车青岛四方车辆研究所有限公司 | Vehicle operation contour limit on-line detection device, installation method and detection method thereof |
| CN111091076B (en) * | 2019-12-03 | 2022-03-11 | 西北工业大学 | Tunnel limit data measuring method based on stereoscopic vision |
| CN111780687B (en) * | 2020-08-05 | 2022-02-22 | 中国铁道科学研究院集团有限公司 | Calibrating device of profile detection system and working method thereof |
| CN114719776B (en) * | 2022-04-11 | 2023-06-13 | 中车株洲电力机车有限公司 | Calibration tool and calibration method for railway vehicle body contour detection system |
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