CN104239904A - Non-contact detection method for external outline of railway vehicle - Google Patents
Non-contact detection method for external outline of railway vehicle Download PDFInfo
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Abstract
The invention discloses a non-contact detection method for the external outline of a railway vehicle. The method includes acquiring a digital photo of the external outline of a to-be-detected vehicle by a digital camera, analyzing, calculating and processing the digital photo, drawing an external-outline graph of the to-be-detected vehicle, and comparing the external-outline graph with a standard external-outline graph to realize non-contact detection of geometric dimension of the external outline of the to-be-detected vehicle. The method further includes the steps of 1), equipment preparation, 2), coordinate system creation, 3), collection point setting, 4), digital photo acquisition, 5), image processing and 6), result output. The scientific and reasonable method is used for non-contact detection of the external outline of the railway vehicle, does not cause any damage to the railway vehicle, and is free from environmental pollution, high in anti-interference performance and accuracy, capable of completing data collection, storage, analysis and processing in real time and high in working efficiency.
Description
Technical field
The invention belongs to rail truck safety detection technology field, be specifically related to a kind of rail vehicle exterior contour non-contact detection method based on mechanical vision inspection technology.
Background technology
In recent years, along with China Express Railway and urban track traffic develop rapidly, and the improving constantly of people's living standard, the go-global strategy implemented of China's railway transportation equipment, all has higher requirement to newly making rail vehicle profile manufacturing accuracy in addition.At present, according to the regulation of GB/T 16904 " inspection of full gauge railway vehicle gauge of the locomotive ", for the measurement of vehicle body of railway vehicle exterior contour size, China is still at use limit gaige, this kind of method wastes time and energy, and accuracy of detection is difficult to be guaranteed, therefore, a technical barrier urgently to be resolved hurrily has been become for the test problems newly making vehicle body of railway vehicle surface profile size.Limit gaige is divided into top to advise and bottom rule, top rule are made up of, in order to detect size and the geometric sense information of car body top and side parts such as steel structure frame, centering magnet, impeller and flexible adjustment locating device, bidirectional swinging and center resetting-mechanism, non-contact sensor and closed mounting boxs thereof; Bottom rule are made up of parts such as three-dimensional adjustable seats, impeller and block bearing, bidirectional swinging and center resetting means thereof.During measurement, tested vehicle checks section with the speed being less than 5km/h by full gauge railway rolling stock, is measured by the stroke of impeller.Limit gaige detects and mainly contains its weak point following:
the process of limit gaige mounting and adjusting is very complicated, and operation needs artificial participation, complex steps, inefficiency;
measurement is counted limited, and measurement results reliability is poor, automatically cannot preserve, calculates and manage measurement data;
the exterior contour of car load cannot be obtained;
during detection, need before and after limit gaige the inspection section of each reserved one times of vehicle commander, add the spatial dimension of measurement.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, for newly making the problems such as rail vehicle exterior contour accuracy of detection is not high, inefficiency, theoretical and the affine geometry principle based on machine vision, provide a kind of rail vehicle exterior contour Automatic survey of can realizing, can analyze measurement data, evaluate and manage, reduce testing crew quantity, improve the rail vehicle exterior contour non-contact detection method of detection level.
The object of the invention is to be achieved by the following technical programs:
Described method comprises the digital photograph adopting digital camera to obtain tested vehicle exterior contour, logarithmic code photo carries out analytical calculation and process, draw out the outline figure of tested vehicle, compare with the outline figure of standard, realize carrying out contactless detection to tested vehicle exterior contour physical dimension;
Described method is further comprising the steps of:
1) equipment prepares: arrange a portal frame, can pass through tested vehicle in portal frame, the draw-gear of tested vehicle configuration step motion control; The column of portal frame and top cross-bar install several houselights and several pick-up units; Each houselights is all towards tested vehicle; Each pick-up unit comprises digital camera and line source, line source vertical plane to tested vehicle, digital camera with fixed angle dip plane to tested vehicle; The irradiated region of line source falls in the imaging area of digital camera; The center line of all line sources is all positioned at the same xsect of tested vehicle; Superimposed both sides and the top that can cover the same cross-section of tested vehicle completely, the imaging area of all digital cameras; The control section of each pick-up unit and draw-gear is all electrically connected with central control unit, central control unit comprises microprocessor, storage element, input interface and output interface, special software is installed, programmed control houselights, digital camera, line source and draw-gear, gather, analyzing and processing preserve data;
2) set up coordinate-system: with the length direction of tested vehicle for X-axis, with tested vehicle place track surface level for Y-axis, with the vertical center line of tested vehicle xsect for Z axis, the O point of XYZ coordinate system is positioned at the xsect of the given end portion of tested vehicle;
3) collection point is set: from the O point of XYZ coordinate system, tested vehicle outside surface is had to the position of small size parts, shooting, collecting spacing along X-direction is 3-10 millimeter, for other positions of tested vehicle, shooting, collecting spacing along X-direction is 10-200 millimeter, finally detect xsect using M to be labeled in X-axis as M collection point, and preserve their numberings and the coordinate figure in X-axis thereof;
4) obtain digital photograph: the numbering of collection point from 1 until M terminates, in certain collection point, houselights is in running order all the time, successively take and preserve background image and target image totally two digital photographs: background extraction image under the state that line source is closed, obtains target image under the state that line source is opened; Obtain digital photograph choosing one of with the following methods:
4A, programmed control tested vehicle are advanced along X-axis with intermittent mode, and in each collection point, place stops and obtains digital photograph:
4B, programmed control tested vehicle are advanced along X-axis at the uniform velocity mode, and according to speed and adjacent two collection points, the spacing in X-axis determines the time interval obtaining photo, and program obtains digital photograph according to the time interval:
4C, programmed control tested vehicle are advanced along X-axis continuously, tested vehicle outside surface is had to the position of small size parts, tested vehicle gait of march is 3-10 millimeter per second, for other positions of tested vehicle, tested vehicle gait of march is 10-200 millimeter per second, according to speed and adjacent two collection points, the spacing in X-axis determines the time interval obtaining photo, and program obtains digital photograph according to the time interval:
One of 5) image procossing, in the following ways:
5A, in real time process: in digital photograph acquisition process, the numbering of collection point from 1 until M terminates, the background image corresponding for each collection point place and target image carry out difference processing in real time, further across geometry computing, in XYZ coordinate system, draw out two sides of this detection sectional plane and the outer contour at top, finally complete M bar outer contour;
5B, to focus on: after the digital photograph of M collection point has all been taken, the numbering of collection point from 1 until M terminates, the background image corresponding for each collection point place and target image carry out difference processing one by one, further across geometry computing, two sides of each detection sectional plane and the outer contour at top is drawn out one by one, M bar outer contour altogether in XYZ coordinate system;
6) Output rusults, different according to the benchmark compared, following result can be exported:
6A, with standard gauge for benchmark, by M bar outer contour one by one compared with standard gauge size, export tested vehicle actual measurement outer profile size exceed the coordinate at gauge position and the size that transfinites;
6B, be benchmark with design drawing, by M bar outer contour one by one compared with design drawing size, draw out the Error Graph of tested vehicle actual measurement outer profile size.
Described pick-up unit also configures a digital camera, two digital cameras are arranged in the center line symmetria bilateralis of the lines light of line source, two digital camera synchronous workings, when step " 4) obtain digital photograph ", the background image that same collection point place obtains and each two of target image, when step " 5) image procossing ", two outer contours at same collection point place average process, to improve accuracy of detection.
Described portal frame can be walked along X-axis under the programmed control of central control unit.
Described digital camera configuration optical filter.
Described pick-up unit can move adjustment along Y-axis and Z axis and fix.
Compared with prior art, the present invention has the following advantages: described methodological science is reasonable, non-contact detecting is carried out to the exterior contour of rail vehicle, any damage is not caused to rail vehicle, non-environmental-pollution, antijamming capability is strong, and precision is high, can data acquisition, preservation, analyzing and processing in real time, work efficiency is high.
Accompanying drawing explanation
Fig. 1 is the FB(flow block) of detection method;
Fig. 2 is the configuration schematic diagram of the employing apparatus of one embodiment of the invention;
Fig. 3 is the schematic top plan view of Fig. 2, removes the top cross-bar of portal frame;
Fig. 4 is the A-A enlarged diagram of Fig. 2;
In figure: 1-track and ground, 2-running gear, 3-pick-up unit, 4-portal frame, 5-tested vehicle, 6-central control unit, 7-digital camera, 8-line source.
Embodiment
Below in conjunction with accompanying drawing, the embodiment of detection method is described in further detail.
With reference to accompanying drawing: described method comprises the digital photograph adopting digital camera to obtain tested vehicle 5 exterior contour, logarithmic code photo carries out analytical calculation and process, draw out the outline figure of tested vehicle 5, compare with the outline figure of standard, realize carrying out contactless detection to tested vehicle 5 exterior contour physical dimension;
Described method is further comprising the steps of:
1) equipment prepares: arrange a portal frame 4, and can pass through tested vehicle 5 in portal frame 4, tested vehicle 5 configures the draw-gear of step motion control; The column of portal frame 4 and top cross-bar install several houselights and several pick-up units 3; Each houselights is all towards tested vehicle 5; Each pick-up unit 3 comprises digital camera 7 and line source 8, line source 8 vertical plane to tested vehicle 5, digital camera 7 with fixed angle dip plane to tested vehicle 5; The irradiated region of line source 8 falls in the imaging area of digital camera 7; The center line of all line sources 8 is all positioned at the same xsect of tested vehicle 5; Superimposed both sides and the top that can cover the same cross-section of tested vehicle 5 completely, the imaging area of all digital cameras 7; The control section of each pick-up unit 3 and draw-gear is all electrically connected with central control unit 6, central control unit 6 comprises microprocessor, storage element, input interface and output interface, special software is installed, programmed control houselights, digital camera 7, line source 8 and draw-gear, gather, analyzing and processing preserve data;
2) coordinate-system is set up: with the length direction of tested vehicle 5 for X-axis, with tested vehicle 5 place track surface level for Y-axis, with the vertical center line of tested vehicle 5 xsect for Z axis, the O point of XYZ coordinate system is positioned at the xsect of the given end portion of tested vehicle 5;
3) collection point is set: from the O point of XYZ coordinate system, tested vehicle 5 outside surface is had to the position of small size parts, shooting, collecting spacing along X-direction is 3-10 millimeter, for other positions of tested vehicle 5, shooting, collecting spacing along X-direction is 10-200 millimeter, finally detect xsect using M to be labeled in X-axis as M collection point, and preserve their numberings and the coordinate figure in X-axis thereof;
4) obtain digital photograph: the numbering of collection point from 1 until M terminates, in certain collection point, houselights is in running order all the time, successively take and preserve background image and target image totally two digital photographs: background extraction image under the state that line source 8 is closed, obtains target image under the state that line source 8 is opened; Obtain digital photograph choosing one of with the following methods:
4A, programmed control tested vehicle 5 are advanced along X-axis with intermittent mode, and in each collection point, place stops and obtains digital photograph:
4B, programmed control tested vehicle 5 are advanced along X-axis at the uniform velocity mode, and according to speed and adjacent two collection points, the spacing in X-axis determines the time interval obtaining photo, and program obtains digital photograph according to the time interval:
4C, programmed control tested vehicle 5 are advanced along X-axis continuously, tested vehicle 5 outside surface is had to the position of small size parts, tested vehicle 5 gait of march is 3-10 millimeter per second, for other positions of tested vehicle 5, tested vehicle 5 gait of march is 10-200 millimeter per second, according to speed and adjacent two collection points, the spacing in X-axis determines the time interval obtaining photo, and program obtains digital photograph according to the time interval:
One of 5) image procossing, in the following ways:
5A, in real time process: in digital photograph acquisition process, the numbering of collection point from 1 until M terminates, the background image corresponding for each collection point place and target image carry out difference processing in real time, further across geometry computing, in XYZ coordinate system, draw out two sides of this detection sectional plane and the outer contour at top, finally complete M bar outer contour;
5B, to focus on: after the digital photograph of M collection point has all been taken, the numbering of collection point from 1 until M terminates, the background image corresponding for each collection point place and target image carry out difference processing one by one, further across geometry computing, two sides of each detection sectional plane and the outer contour at top is drawn out one by one, M bar outer contour altogether in XYZ coordinate system;
6) Output rusults, different according to the benchmark compared, following result can be exported:
6A, with standard gauge for benchmark, by M bar outer contour one by one compared with standard gauge size, export tested vehicle 5 and survey outer profile size and exceed the coordinate at gauge position and the size that transfinites;
6B, be benchmark with design drawing, by M bar outer contour one by one compared with design drawing size, draw out the Error Graph that tested vehicle 5 surveys outer profile size.
Described pick-up unit 3 also configures a digital camera 7, two digital cameras 7 are arranged in the center line symmetria bilateralis of the lines light of line source 8, two digital camera 7 synchronous workings, when step " 4) obtain digital photograph ", the background image that same collection point place obtains and each two of target image, when step " 5) image procossing ", two outer contours at same collection point place average process, to improve accuracy of detection.
Described portal frame 4 can be walked along X-axis under the programmed control of central control unit 6.
Described digital camera 7 configures optical filter.
Described pick-up unit 3 can move adjustment along Y-axis and Z axis and fix.
Track and ground 1: two kinds of tracks laid by ground, a kind of is the track of tested vehicle 5, and another is the track of the running gear 2 of portal frame 4.
Running gear 2: the bottom being arranged on portal frame 4, can drive portal frame 4 advance or retreat.
Pick-up unit 3: the optical devices detecting the exterior contour of tested vehicle 5, comprise digital camera 7 and line source 8.
Portal frame 4: the carrier installing houselights and pick-up unit 3.
Tested vehicle 5: newly make vehicle, or the vehicle after overhaul.
Central control unit 6: comprise microprocessor, storage element, input interface and output interface, installs special software, programmed control houselights, digital camera 7, line source 8 and draw-gear, gathers, analyzing and processing preserve data.
Digital camera 7: the digital camera adopting prior art, resolution is not less than 768 × 576.
Line source 8: the line source adopting prior art.
Houselights: the houselights adopting prior art.
Optical filter: the optical filter adopting prior art.
In the examples below: tested vehicle 5 from given end portion to the length of another one end be 25000 millimeters.
Embodiment 1:
1) equipment prepares: arrange a portal frame 4, and can pass through tested vehicle 5 in portal frame 4, tested vehicle 5 configures the draw-gear of step motion control; The column of portal frame 4 and top cross-bar install several houselights and several pick-up units 3; Each houselights is all towards tested vehicle 5; Each pick-up unit 3 comprises digital camera 7 and line source 8, line source 8 vertical plane to tested vehicle 5, digital camera 7 with fixed angle dip plane to tested vehicle 5; The irradiated region of line source 8 falls in the imaging area of digital camera 7; The center line of all line sources 8 is all positioned at the same xsect of tested vehicle 5; Superimposed both sides and the top that can cover the same cross-section of tested vehicle 5 completely, the imaging area of all digital cameras 7; The control section of each pick-up unit 3 and draw-gear is all electrically connected with central control unit 6, central control unit 6 comprises microprocessor, storage element, input interface and output interface, special software is installed, programmed control houselights, digital camera 7, line source 8 and draw-gear, gather, analyzing and processing preserve data;
2) coordinate-system is set up: with the length direction of tested vehicle 5 for X-axis, with tested vehicle 5 place track surface level for Y-axis, with the vertical center line of tested vehicle 5 xsect for Z axis, the O point of XYZ coordinate system is positioned at the xsect of the given end portion of tested vehicle 5;
3) collection point is set: from the O point of XYZ coordinate system, tested vehicle 5 outside surface is had to the position of small size parts, shooting, collecting spacing along X-direction is 3 millimeters, for other positions of tested vehicle 5, shooting, collecting spacing along X-direction is 100 millimeters, finally detect xsect using M to be labeled in X-axis as M collection point, and preserve their numberings and the coordinate figure in X-axis thereof;
4) obtain digital photograph: the numbering of collection point from 1 until M terminates, in certain collection point, houselights is in running order all the time, successively take and preserve background image and target image totally two digital photographs: background extraction image under the state that line source 8 is closed, obtains target image under the state that line source 8 is opened; Obtain digital photograph choosing with the following methods:
4A, programmed control tested vehicle 5 are advanced along X-axis with intermittent mode, and in each collection point, place stops and obtains digital photograph:
5) image procossing, real-time process: in digital photograph acquisition process, the numbering of collection point from 1 until M terminates, the background image corresponding for each collection point place and target image carry out difference processing in real time, further across geometry computing, in XYZ coordinate system, draw out two sides of this detection sectional plane and the outer contour at top, finally complete M bar outer contour;
6) Output rusults, with standard gauge for benchmark, by M bar outer contour one by one compared with standard gauge size, output tested vehicle 5 is surveyed outer profile size and is exceeded the coordinate at gauge position and the size that transfinites;
Embodiment 2:
Substantially the same manner as Example 1, unlike: pick-up unit 3 also configures a digital camera 7, two digital cameras 7 are arranged in the center line symmetria bilateralis of the lines light of line source 8, two digital camera 7 synchronous workings, when step " 4) obtain digital photograph ", the background image that same collection point place obtains and each two of target image, when step " 5) image procossing ", two outer contours at same collection point place average process, to improve accuracy of detection.
Claims (9)
1. a rail vehicle exterior contour non-contact detection method, described method comprises the digital photograph adopting digital camera to obtain tested vehicle (5) exterior contour, logarithmic code photo carries out analytical calculation and process, draw out the outline figure of tested vehicle (5), compare with the outline figure of standard, realize carrying out contactless detection to tested vehicle (5) exterior contour physical dimension;
It is characterized in that: described method is further comprising the steps of:
1) equipment prepares: arrange a portal frame (4), can pass through tested vehicle (5) in portal frame (4), the draw-gear of tested vehicle (5) configuration step motion control; The column of portal frame (4) and top cross-bar install several houselights and several pick-up units (3); Each houselights is all towards tested vehicle (5); Each pick-up unit (3) comprises digital camera (7) and line source (8), line source (8) vertical plane to tested vehicle (5), digital camera (7) with fixed angle dip plane to tested vehicle (5); The irradiated region of line source (8) falls in the imaging area of digital camera (7); The center line of all line sources (8) is all positioned at the same xsect of tested vehicle (5); Superimposed both sides and the top that can cover the same cross-section of tested vehicle (5) completely, the imaging area of all digital cameras (7); The control section of each pick-up unit (3) and draw-gear is all electrically connected with central control unit (6), central control unit (6) comprises microprocessor, storage element, input interface and output interface, special software is installed, programmed control houselights, digital camera (7), line source (8) and draw-gear, gather, analyzing and processing preserve data;
2) coordinate-system is set up: with the length direction of tested vehicle (5) for X-axis, with tested vehicle (5) place track surface level for Y-axis, with the vertical center line of tested vehicle (5) xsect for Z axis, the O point of XYZ coordinate system is positioned at the xsect of the given end portion of tested vehicle (5);
3) collection point is set: from the O point of XYZ coordinate system, tested vehicle (5) outside surface is had to the position of small size parts, shooting, collecting spacing along X-direction is 3-10 millimeter, for other positions of tested vehicle (5), shooting, collecting spacing along X-direction is 10-200 millimeter, finally detect xsect using M to be labeled in X-axis as M collection point, and preserve their numberings and the coordinate figure in X-axis thereof;
4) obtain digital photograph: the numbering of collection point from 1 until M terminates, in certain collection point, houselights is in running order all the time, successively take and preserve background image and target image totally two digital photographs: background extraction image under the state that line source (8) is closed, obtains target image under the state that line source (8) is opened; Obtain digital photograph choosing one of with the following methods:
4A, programmed control tested vehicle (5) are advanced along X-axis with intermittent mode, and in each collection point, place stops and obtains digital photograph;
4B, programmed control tested vehicle (5) are advanced along X-axis at the uniform velocity mode, and according to speed and adjacent two collection points, the spacing in X-axis determines the time interval obtaining photo, and program obtains digital photograph according to the time interval;
4C, programmed control tested vehicle (5) are advanced along X-axis continuously, tested vehicle (5) outside surface is had to the position of small size parts, tested vehicle (5) gait of march is 3-10 millimeter per second, for other positions of tested vehicle (5), tested vehicle (5) gait of march is 10-200 millimeter per second, according to speed and adjacent two collection points, the spacing in X-axis determines the time interval obtaining photo, and program obtains digital photograph according to the time interval;
One of 5) image procossing, in the following ways:
5A, in real time process: in digital photograph acquisition process, the numbering of collection point from 1 until M terminates, the background image corresponding for each collection point place and target image carry out difference processing in real time, further across geometry computing, in XYZ coordinate system, draw out two sides of this detection sectional plane and the outer contour at top, finally complete M bar outer contour;
5B, to focus on: after the digital photograph of M collection point has all been taken, the numbering of collection point from 1 until M terminates, the background image corresponding for each collection point place and target image carry out difference processing one by one, further across geometry computing, two sides of each detection sectional plane and the outer contour at top is drawn out one by one, M bar outer contour altogether in XYZ coordinate system;
6) Output rusults, different according to the benchmark compared, following result can be exported:
6A, with standard gauge for benchmark, by M bar outer contour one by one compared with standard gauge size, export tested vehicle (5) actual measurement outer profile size exceed the coordinate at gauge position and the size that transfinites;
6B, be benchmark with design drawing, by M bar outer contour one by one compared with design drawing size, draw out the Error Graph of tested vehicle (5) actual measurement outer profile size.
2. method according to claim 1, it is characterized in that: described pick-up unit (3) also configures another digital camera (7), two digital cameras (7) are arranged in the center line symmetria bilateralis of the lines light of line source (8), two digital camera (7) synchronous workings, when step " 4) obtain digital photograph ", the background image that same collection point place obtains and each two of target image, when step " 5) image procossing ", two outer contours at same collection point place average process, to improve accuracy of detection.
3. method according to claim 1 and 2, is characterized in that: described portal frame (4) can be walked along X-axis under the programmed control of central control unit (6).
4. method according to claim 1 and 2, is characterized in that: described digital camera (7) configuration optical filter.
5. method according to claim 3, is characterized in that: described digital camera (7) configuration optical filter.
6. method according to claim 1 and 2, is characterized in that: described pick-up unit (3) can move adjustment along Y-axis and Z axis and fix.
7. method according to claim 3, is characterized in that: described pick-up unit (3) can move adjustment along Y-axis and Z axis and fix.
8. method according to claim 4, is characterized in that: described pick-up unit (3) can move adjustment along Y-axis and Z axis and fix.
9. method according to claim 5, is characterized in that: described pick-up unit (3) can move adjustment along Y-axis and Z axis and fix.
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| CN112381773A (en) * | 2020-11-05 | 2021-02-19 | 东风柳州汽车有限公司 | Key cross section data analysis method, device, equipment and storage medium |
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