CN106885532A - A kind of detection method of high-precision rail geometric profile - Google Patents
A kind of detection method of high-precision rail geometric profile Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
Abstract
The invention belongs to photoelectric detection technology field, it is related to a kind of detection method of high-precision rail geometric profile, it is adaptable to the analysis of railway track distance and path wear.The present invention builds combined measurement system using multiple lasers and multiple cameras, and by the integrated treatment of combined calibrating and gathered data to measuring system, high accuracy obtains rail geometric profile characteristic point in two dynamic 3 D coordinate systems of no overlap.This testing equipment installs simple and flexible, and accuracy of detection is high, can simultaneously calibrate the world coordinates of bilateral rail, the effective three-dimensional values for completing rail geometric profile.The present invention has and installs simple and flexible, and accuracy of detection is high, the features such as can simultaneously calibrate the world coordinates of bilateral rail.
Description
Technical field
The invention belongs to photoelectric detection technology field, it is related to a kind of detection method of high-precision rail geometric profile, fits
For the analysis of railway track distance and path wear.
Background technology
Railway is the main artery of national communication transport, assume responsibility for more than 70% passenger and freight task, and circuit is all
The basis of rail transport and soul.The physical dimension of railroad track has particularly for ensureing train operational safety and comfortableness
Important meaning.At present, detection of the China railways works department to track geometry profile still mainly uses manual detection method,
This measuring method work amount is big, measuring speed is slow, efficiency is low, be difficult control certainty of measurement.
Laser camera shooting type detection method is to realize a kind of new method of rail geometric profile detection, and it is by laser and camera
Deng composition, the principle of its detection rail geometric profile is as shown in Figure 1.Laser leads in the rail upslide outgoing laser beam of detection
Cross to process the one or more image that camera shoots and recover rail under regulation coordinate system (where typically taking rail
World coordinate system xyz) in three-dimensional information, then scene information is identified and is understood.Thus, it is several that it turns into future track
The development trend of what outline detection system.
The difficult point of laser camera shooting type detection method is difficult experimental situation, and installation accuracy is difficult to ensure, changes relation many
It is many.If according to traditional determination transformational relation, i.e., demarcate successively between each camera, then calibration for cameras and camera and single rail it
Between position relationship, though being not need to rely on scene and demarcating thing, poor robustness and there is a problem of error propagation, obtain
Solution precision it is low.Traditional scaling method is the scaling method based on active vision, need to control to take the photograph on active vision platform
Camera does relative motion, and the requirement to device is higher, and installation accuracy cannot ensure.Traditional scaling method can only be to bilateral
Rail is separately demarcated, if position of the rail in different coordinates can only be drawn, the corresponding characteristic point of gauge geometric profile also position
In the middle of different coordinates, it is impossible to carry out the geometric profile detection of rail system.
The content of the invention
In view of the shortcomings of the prior art, the present invention builds combined measurement system using multiple lasers and multiple cameras, leads to
The integrated treatment to the combined calibrating and gathered data of measuring system is crossed, high accuracy obtains two dynamic 3 D coordinates of no overlap
Rail geometric profile characteristic point in system.This testing equipment installs simple and flexible, and accuracy of detection is high, can simultaneously calibrate bilateral iron
The world coordinates of rail, the effective three-dimensional values for completing rail geometric profile.
The technical scheme is that：
A kind of detection method of high-precision rail geometric profile, it is characterised in that specific method is：According to rail geometry
The requirement of detection, the parameter for completing laser, camera and lifting platform is chosen.Selection 4 laser line generators and 4 cameras, by firm
Property support frame realizes coupling for laser line generator and camera.Level calibration plate is positioned over lifting platform surface, is launched by measuring system
Line laser projects to and laser rays is formed on scaling board, pictorial diagram such as Fig. 2, and red laser line is located at black calibration plate in figure, both
With in object space world coordinate system.Meanwhile, line laser projects and contour line is formed on rail, pictorial diagram such as Fig. 3, contour line position in figure
In object space world coordinate system.The height of lifting platform is adjusted, is incident upon on the laser rays and rail on scaling board by cameras record
Contour line and demarcate hole image.The geometric center of prescribed level scaling board is the origin of regulation world coordinate system, pixel
The center in face is the origin of image space coordinate system, corresponding axle of u, v axle parallel to photo coordinate system.According to demarcating hole in object space and
The coordinate of image space, resolves camera internal and external orientation.Measuring system emission lines laser projection to contour line is formed on track, by phase
Machine records the image of contour line.The image space coordinate of laser rays and contour line, exterior orientation in combining camera are extracted by image procossing
Element resolves the object coordinates of laser rays and contour line.By being fitted object space laser rays, acquisition lasing area is under world coordinate system
Normal vector, and then obtain its spin moment.Using spin matrix, the object coordinates of rail contour line are entered into line translation, calculate profile
The standard coordinate of line.
It is complete according to the requirement that rail geometry is detected in the detection method of above-mentioned a kind of high-precision rail geometric profile
Parameter into laser, camera and lifting platform is chosen, including following sub-step：
Step 2.1, according to the required precision that rail geometry is detected, chooses the important indicator parameter of camera：Camera resolution
Can control in the range of 0.1mm/pixel, the scope of camera lens F numbers is 2.2~8, the entrance pupil control of camera 6cm~
9cm, then can obtain camera focus f scopes for 13.2mm~72mm, and field depth is 100mm~150mm.
Step 2.2, according to the requirement of picture quality and laser image coordinate extraction accuracy, is compared by selecting the angle of divergence
, no more than 1mm, optical maser wavelength is in visible light wave range for its line width of small laser control.
Step 2.3, the detection requirement for height according to rail, lifting platform stroke should cover the altitude range of rail 176mm.
In the detection method of above-mentioned a kind of high-precision rail geometric profile, 4 laser line generators and 4 cameras are selected,
Coupling for laser line generator and camera, including following sub-step are realized by rigid cage：
Step 3.1, the parameter request based on laser line generator and camera, from 4 laser line generators and 4 cameras, each line
, into a sub- measuring system, the sub- measuring system of each two constitutes left side subsystem and right side subsystem for laser and camera combination,
For measuring left and right rail geometric profile, the requirement of each laser line generator is placed in the same plane, and its modes of emplacement is shown in Fig. 2 institutes
Show.
Step 3.2,4 cameras are coupled by rigid cage, the depth of field requirement according to camera, and camera is in support frame
Position must is fulfilled for：
Δ l=max (lcos ω)-min (lcos ω),
Wherein, Δ l is the depth of field, and l is the distance of camera entrance pupil and rail, and ω is a bit on camera entrance pupil and rail profile
The angle of line and optical axis.
Step 3.3, laser line generator is arranged in rigid cage, adjusts the position of laser line generator so that laser beam energy
Track level is enough completely covered, and ensures that the lasing area of each rail both sides is coplanar and vertical with track level as far as possible.
In the detection method of above-mentioned a kind of high-precision rail geometric profile, level calibration plate is positioned over lifting platform table
Face, by measuring system emission lines laser projection to scaling board, adjusts the height of lifting platform, by cameras record laser rays and mark
Determine the image in hole, including following sub-step：
Step 4.1, makes the level calibration plate being made up of the through hole of a × b a diameter of d, the horizontal stroke between adjacent through-holes
It is dx mm and dy mm to longitudinal pitch.The geometric center of prescribed level scaling board is the origin of regulation world coordinate system, note
Coordinate is (x on scaling boardij,yij), wherein, i<a,j<b.
Step 4.2, level calibration plate is placed on high accuracy lifting platform, it is ensured that scaling board can simultaneously be presented 4 laser
Line, the original position of high accuracy lifting platform should be flushed with rail bottom, and it is 0 that height is designated as herein.
Step 4.3, by 4 laser beam projections of laser line generator transmitting to scaling board, changes the height z of lifting platforms, zs
=(s-1) × dz, dz are the step-length of height change, and s=1,2,3..., int (H/dz)+1, H is the height of rail, and int is represented
Rounding operation function.Principle is shown in Fig. 4.As can be known from Fig. 4, in the course of work of the invention, laser and camera are arranged on rail
Both sides, scaling board is placed on lifting platform with the lifting of lifting platform one, and position of the laser rays on scaling board is with lifting platform
Level Change, rail is placed on the lower section of lifting platform, is not moved with lifting platform.
Step 4.4, while lifting platform height is adjusted, by cameras record scaling board and the image of laser rays, marks it
Image name is respectively BstAnd Lst, wherein, t=1,2,3,4.
In the detection method of above-mentioned a kind of high-precision rail geometric profile, according to demarcation hole in object space and the seat of image space
Mark, resolves image side's position relationship, including following sub-step：
Step 5.1, using thresholding method and gravity model appoach in image processing algorithm, to image BstCarry out treatment and extract water
Through hole center on flat scaling board, obtains the image space coordinate (u of all through holesij,vij)；
Step 5.2, the object coordinates image space coordinate according to through hole tries to achieve image side conversion pass by being demarcated with multinomial
System, resolves the internal and external orientation of camera, and they meet relationship below：
Wherein, a11,a12...a1mAnd b21,b22...b2mIt is the internal and external orientation of camera, e is secondary for fitting of a polynomial
Number, m<(a×b).
In the detection method of above-mentioned a kind of high-precision rail geometric profile, measuring system emission lines laser projection to rail
Contour line is formed on road, by 4 images of cameras record contour line, it is G to mark its image namej。
In the detection method of above-mentioned a kind of high-precision rail geometric profile, laser rays and wheel are extracted by image procossing
The image space coordinate of profile, combining camera internal and external orientation resolves the object coordinates of laser rays and contour line.
Step 7.1, can make full use of angle point to extract the image space coordinate of laser rays.Scaling board and laser that camera is photographed
Device is incident upon effect schematic diagram such as Fig. 5 of the laser rays on scaling board, and circular hole is scaling board through hole in figure, and straight line is laser
Laser rays on be incident upon scaling board, first extracts each laser rays and demarcates the picture at the center of through hole with Threshold segmentation and gravity model appoach
Square coordinate：(uxs,vxs) and (uks,vks)。
Step 7.2, because all reference points in image side are respectively positioned on same laser rays, can be by the image space of scaling board through hole
Coordinate (uks,vks) straight line is fitted by each column, by the image space coordinate fitting laser rays of laser rays, and it is asked with each demarcation hole
The intersection point of vertical line, as image space reference point, obtain object reference point coordinate, fitting by being substituted into image areal coordinate transformational relation
Straight line obtains object space laser rays.
Step 7.3, using thresholding method and the center of gravity model appoach Extracting contour, obtains the image space coordinate of contour line
(uls,vls), the internal and external orientation of combining camera, you can obtain the object coordinates (x of contour linels,yls,zls,)。
In the detection method of above-mentioned a kind of high-precision rail geometric profile, by being fitted object space laser rays, obtain and swash
Normal vector of the smooth surface under world coordinate system, and then obtain its spin moment, including following sub-step：
Step 8.1, object space lasing area is fitted by the object space laser rays of gained, obtains the normal vector of object space lasing areaWherein αtIt is the angle of t-th object space lasing area normal vector and world coordinate system x-axis, βtIt is
The angle of t-th object space lasing area normal vector and world coordinate system y-axis, γtIt is that t-th object space lasing area normal vector is sat with the world
The angle of mark system z-axis.
Step 8.2, using the non-coplanar error brought with out of plumb of the methods such as spin matrix compensation.Calculate laser plane institute
The rectangular coordinate system in space of determination to the corresponding relation of world coordinate system be spin matrix Mt, see Fig. 6：
In the detection method of above-mentioned a kind of high-precision rail geometric profile, using spin matrix Mt, by rail contour line
Object coordinates enter line translation, calculate the standard coordinate of contour line, its space coordinate conversion is shown in Fig. 6, profile coordinate (yb,zb)：
yb=M21·xp+M22·yp+M23·zp
zb=M31·xp+M32·yp+M33·zp
Wherein MqvRepresent the q row v column elements of Metzler matrix, xp、yp、zpIt is the object coordinates of contour line.
Rail geometric profile detection method designed by this patent is different from common detecting methods, and major advantage has：Camera
Between there is no a public view field, but can simultaneously carry out the demarcation of four cameras and four lasers, output rail geometric profile exists
The coordinate of same world coordinate system, the detection of efficient completion rail geometric profile.Lasing area is also served as to demarcate object,
The non-coplanar alignment error of out of plumb is installed by spin matrix compensation laser, the detection essence of rail geometric profile is improve
Degree.
Brief description of the drawings：
Fig. 1 Laser video camera method rail geometric profile detection principle diagrams；
Fig. 2 laser rays pictorial diagrams；
Fig. 3 contour line pictorial diagrams；
Fig. 4 rail geometric profile detecting systems；
Fig. 5 image space laser line coordinates extracts schematic diagram；
Fig. 6 space coordinate transformations；
Fig. 7 cameras；
Fig. 8 lasers；
Fig. 9 calibration experiments and gauge measurement experiment scene；
The image space image of Figure 10 scaling boards；
The image space image of Figure 11 laser rays；
Figure 12 left sides image space calibration point extracts (z=80mm)；
Figure 13 rail profile pictures；
Figure 14 object space laser rays；
Figure 15 object space lasing areas；
Figure 16 parts rail profile diagram.
Specific embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment：
1. the requirement for being detected according to rail geometry, the parameter for completing laser, camera and lifting platform is chosen, including following son
Step：
(1.1) required precision detected according to rail geometry, chooses the important indicator parameter of camera：Resolution ratio 1628 ×
1236,1/1.8 inch of image planes size.F number=3.27, using f=28mm tight shots.The depth of field is in 106mm.See Fig. 7.
(1.2) according to the requirement of picture quality and laser image coordinate extraction accuracy, the line width of laser is selected to be less than
1mm, optical maser wavelength is 632nm, sees Fig. 8.
(1.3) the detection requirement for height according to rail, altitude range of the lifting platform stroke more than 176mm.
2. 4 laser line generators and 4 cameras are selected, coupling for laser line generator and camera, bag are realized by rigid cage
Include following sub-step：
(2.1) parameter request based on laser line generator and camera, from 4 laser line generators and 4 cameras, each line laser
, into a sub- measuring system, the sub- measuring system of each two constitutes left side subsystem and right side subsystem, is used for for device and camera combination
Measurement left and right rail geometric profile, each laser line generator requirement is placed in the same plane.
(2.2) 4 cameras are coupled by rigid cage, are required according to camera depth of field value, and each camera is l away from rail
=880mm, machine entrance pupil is 60 ° with the line of any on rail profile and the angle of optical axis.
(2.3) laser line generator is arranged in rigid cage, adjusts the position of laser line generator so that laser beam can be complete
All standing track level, and ensure that the lasing area of each rail both sides is coplanar and vertical with track level as far as possible, testing ground
Such as Fig. 9.
3. level calibration plate is positioned over lifting platform surface, by measuring system emission lines laser projection to scaling board, adjusted
The height of lifting platform is saved, by cameras record laser rays and the image in demarcation hole, including following sub-step：
(3.1) the level calibration plate being made up of the through hole of 18 × 12 a diameter of 3mm, the horizontal stroke between adjacent through-holes are made
It is 10mm and 20mm to longitudinal pitch., it is stipulated that the geometric center point of level calibration plate is the original of regulation world coordinate system
Point, coordinate is (x on note scaling boardij,yij), wherein i<18,j<12.
(3.2) level calibration plate is placed on high accuracy lifting platform, it is ensured that scaling board can simultaneously be presented 4 laser rays,
The original position of high accuracy lifting platform should be flushed with rail bottom, and it is 0 that height is designated as herein.During lifting of lifting table, level
The lifting of scaling board one, and rail is not lifted.See Fig. 9 calibration experiments with gauge measurement experiment scene；
(3.3) by 4 laser beam projections of laser line generator transmitting to scaling board, the height z of lifting platform is changeds, zs=
(s-1) × 10mm, s=1,2,3..., 19.
(3.4) while lifting platform height is adjusted, by cameras record scaling board and the image of laser rays, its image is marked
Title is respectively BstAnd Lst, wherein, t=1,2,3,4, wherein BstIt is the image space image of scaling board, pictorial diagram is shown in Figure 10, LstIt is
The image space image of laser rays, pictorial diagram is shown in Figure 11.
4., according to hole is demarcated in object space and the coordinate of image space, image side's position relationship, including following sub-step are resolved：
(4.1) using the thresholding method and gravity model appoach in image processing algorithm, it is stipulated that the center of camera is image space coordinate
Origin, to image BstCarry out the through hole center that treatment is extracted on level calibration plate, obtaining the image space coordinate of all through holes
(uij,vij), Figure 12 is that region is demarcated in z in left sidesCalibration point extraction effect figure under=80mm height.Wherein Red Cross is to be carried
The scaling board through hole for taking, blue line is laser rays.
(4.2) object coordinates according to through hole, image space coordinate, are shown in Table 1, wherein (u, v) is image space coordinate, (x, y) is thing
Square coordinate.Image side's transformation relation is tried to achieve by binary cubic polynomial, the internal and external orientation f of camera is resolvedst, it is shown in Table 2：
The object coordinates of the through hole of table 1, image space coordinate
| u | v | x | y |
| 45 | 45 | -36.242390915411 | -36.2423909154110 |
| 95 | 95 | -33.4705548055907 | -33.4705548055907 |
| 145 | 145 | -30.5944998783789 | -30.5944998783789 |
| 195 | 195 | -27.5993957110939 | -27.5993957110939 |
| 245 | 245 | -24.470411881054 | -24.4704118810540 |
| 295 | 295 | -21.1927179655773 | -21.1927179655773 |
| 345 | 345 | -17.7514835419822 | -17.7514835419822 |
| 395 | 395 | -14.1318781875868 | -14.1318781875868 |
| 395 | 395 | -10.319071479709 | -10.3190714797094 |
| 445 | 445 | -6.29823299566822 | -6.29823299566822 |
| 495 | 495 | -2.05453231278153 | -2.05453231278153 |
| 545 | 545 | 2.42686099163246 | 2.42686099163246 |
| 595 | 595 | 7.16077734025551 | 7.16077734025551 |
The binary cubic equation fitting coefficient table of table 2
Wherein, a11,a12...a1mAnd b21,b22...b2mIt is the internal and external orientation of camera.
5. measuring system emission lines laser projection is to contour line is formed on track, by 4 images of cameras record contour line,
It is G to mark its image namej.See Figure 13.
6. the image space coordinate of laser rays and contour line is extracted by image procossing, and combining camera internal and external orientation is resolved and swashed
The object coordinates of light and contour line.
(6.1) angle point can be made full use of to extract the image space coordinate of laser rays.Because all reference points in image side are respectively positioned on
On same laser rays, therefore first can extract each laser rays with Threshold segmentation and gravity model appoach and demarcate the image space seat at the center of through hole
Mark：(uxs,vxs) and (uks,vks)。
(6.2) by the image space coordinate (u of scaling board through holeks,vks) and be fitted straight line by each column, by the picture of laser rays
Square coordinate fitting laser rays, and seek its intersection point with each demarcation hole vertical line, as image space reference point, are substituted into image areal coordinate
Transformational relation can obtain object reference point coordinate, and fitting a straight line obtains object space laser rays.See Figure 14.
(6.3) using thresholding method and the center of gravity model appoach Extracting contour, the image space coordinate (u of contour line is obtainedls,
vls), the internal and external orientation of combining camera, you can obtain the object coordinates (x of contour linels,yls,zls,)。
7., by being fitted object space laser rays, normal vector of the lasing area under world coordinate system is obtained, and then obtain its rotation
Square, including following sub-step：
(7.1) the object space laser rays of gained is fitted object space lasing area, sees Figure 15, the normal vector for obtaining object space lasing area is
n1=(1, -0.0028,0.0016), n2=(1, -0.0209,0.0037).Wherein n1Three coordinate values be respectively lasing area
Normal vector and world coordinate system x, y, the angle of z-axis, n2Ibid.
(7.2) using the non-coplanar error brought with out of plumb of the methods such as spin matrix compensation.Calculate laser plane institute really
Fixed rectangular coordinate system in space to the corresponding relation of world coordinate system be spin matrix:
8. spin matrix M is utilized, the object coordinates of rail contour line are entered into line translation, calculate the standard coordinate of contour line, portion
Divide rail profile diagram such as Figure 16, wherein feature point coordinates：H=(- 31.689mm, 160mm), V=(- 12.167mm,
172.310mm)。
The demarcation of this programme is demarcated different from common multi-vision visual, and one is that this patent system is that lasing area is imaged, and two are
Different cameral does not have public view field.Therefore this patent proposes to carry out lasing area demarcation using the method for lifting of lifting table scaling board
And image planes are demarcated to the transformational relation of world coordinates, are finally specifically calculated with the method for fitting of a polynomial, are missed to installing
Difference carries out projection process, and has carried out experimental verification, reaches required precision.Good solving is main present in technical background
Problem, the method simple and flexible high precision, the effective peg model high accuracy three-dimensional that completes is demarcated.
Specific embodiment described in this patent is only to the spiritual explanation for example of the present invention.Technology belonging to of the invention
The technical staff in field can make various modifications or supplement to described specific embodiment or use similar mode
Substitute, but without departing from spirit of the invention or surmount scope defined in appended claims.
Claims (6)
1. a kind of detection method of high-precision rail geometric profile, it is characterised in that：Comprise the following steps：
4 laser line generators and 4 cameras are connected by rigid cage, coupling for laser line generator and camera, line laser is realized
Device and camera composition measuring system；
Level calibration plate is positioned over lifting platform surface, by the laser line generator emission lines laser projection of measuring system to level calibration
Laser rays is formed on plate, line laser projects and contour line is formed on rail；
The height of lifting platform is adjusted, contour line and mark on the laser rays and rail on scaling board are incident upon by cameras record
Determine the image in hole；
The geometric center of prescribed level scaling board is the origin of regulation world coordinate system, and the center of pixel faces is image space coordinate system
Origin；
The image space coordinate of laser rays and contour line is extracted by image procossing；
Combining camera internal and external orientation resolves the object coordinates of laser rays and contour line；
By being fitted object space laser rays, normal vector of the lasing area under world coordinate system is obtained, and then obtain its spin moment；Utilize
The object coordinates of rail contour line are entered line translation by spin matrix, calculate the standard coordinate of contour line.
2. the detection method of high-precision rail geometric profile according to claim 1, it is characterised in that：Described camera
In the range of 0.1mm/pixel, the scope of camera lens F numbers is 2.2 to 8 to resolution ratio, and the entrance pupil of camera is controlled in 6cm to 9cm,
Camera focus f scopes then be can obtain for 13.2mm to 72mm, field depth is 100mm to 150mm；Described laser line generator line width
No more than 1mm, optical maser wavelength is in visible light wave range；Described lifting platform stroke is more than or equal to 176mm.
3. the detection method of high-precision rail geometric profile according to claim 1, it is characterised in that：Described line swashs
The connection method of light device, camera and rigid cage is：Each laser line generator and camera combination are into a sub- measuring system, every two
Individual sub- measuring system constitutes left side subsystem and right side subsystem, and left side subsystem, right side subsystem are used to measure left and right rail
Geometric profile, each laser line generator requirement is placed in the same plane；
4 described cameras are coupled by rigid cage, and camera must is fulfilled in the position of support frame：
Δ l=max (lcos ω)-min (lcos ω),
Wherein, Δ l is the depth of field, and l is the distance of camera entrance pupil and rail, and ω is camera entrance pupil and the line of any on rail profile
With the angle of optical axis；
Laser line generator is arranged in rigid cage, the laser beam of laser line generator can be completely covered track level, and each
The lasing area of rail both sides is coplanar and vertical with track level.
4. the detection method of high-precision rail geometric profile according to claim 1, it is characterised in that：Described regulation
The altitude record laser rays and contour line of lifting platform are concretely comprised the following steps：
The level calibration plate that will be made up of the through hole of a × b a diameter of d；
Level calibration plate is placed on high accuracy lifting platform, it is ensured that scaling board can simultaneously be presented 4 laser rays, high accuracy is lifted
The original position of platform should be flushed with rail bottom；
By on 4 laser beam projections of laser line generator transmitting to scaling board, change the height of lifting platform；
While lifting platform height is adjusted, by cameras record scaling board and the image of laser rays.
5. the detection method of high-precision rail geometric profile according to claim 1, it is characterised in that：Described passes through
Image procossing extracts concretely comprising the following steps for the image space coordinate of laser rays and contour line：
Using thresholding method and gravity model appoach in image processing algorithm, treatment is carried out to image and extracts logical on level calibration plate
Hole center, obtains the image space coordinate of all through holes；
Object coordinates image space coordinate according to through hole, is demarcated with multinomial and tries to achieve image side's transformation relation, resolves the interior of camera
Elements of exterior orientation.
6. the detection method of high-precision rail geometric profile according to claim 1, it is characterised in that：Described combination
Camera internal and external orientation resolves comprising the concrete steps that for the object coordinates of laser rays and contour line：
The image space coordinate of laser rays is extracted using angle point；
The image space coordinate of scaling board through hole is fitted straight line by each column, by the image space coordinate fitting laser rays of laser rays, and
Seek its intersection point with each demarcation hole vertical line, as image space reference point, substituted into by image areal coordinate transformational relation to obtain object space
With reference to point coordinates, fitting a straight line obtains object space laser rays；
Using thresholding method and the center of gravity model appoach Extracting contour, obtain the image space coordinate of contour line, combining camera it is interior
Elements of exterior orientation, you can obtain the object coordinates of contour line.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109539995A (en) * | 2018-11-19 | 2019-03-29 | 国网四川省电力公司电力科学研究院 | A kind of insulator creepage distance self-operated measuring unit |
| CN109539994A (en) * | 2018-11-19 | 2019-03-29 | 国网四川省电力公司电力科学研究院 | A kind of insulator creepage distance method for automatic measurement |
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| CN111210479A (en) * | 2020-01-02 | 2020-05-29 | 浙江大学台州研究院 | Laser auxiliary calibration device and method for measuring sizes of parts with different heights |
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| CN112902878A (en) * | 2021-01-21 | 2021-06-04 | 中国铁道科学研究院集团有限公司基础设施检测研究所 | Method and device for adjusting laser plane of track geometry detection system |
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| CN109539995B (en) * | 2018-11-19 | 2021-08-17 | 国网四川省电力公司电力科学研究院 | Automatic measuring device for creepage distance of insulator |
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| CN111197957A (en) * | 2018-11-19 | 2020-05-26 | 大族激光科技产业集团股份有限公司 | Line structure cursor positioning platform, using method and calibration system |
| CN109539995A (en) * | 2018-11-19 | 2019-03-29 | 国网四川省电力公司电力科学研究院 | A kind of insulator creepage distance self-operated measuring unit |
| CN110306413A (en) * | 2018-11-30 | 2019-10-08 | 武汉滨湖电子有限责任公司 | A kind of high-precision track measuring device and measuring method based on monocular |
| CN110763306A (en) * | 2019-09-30 | 2020-02-07 | 中国科学院西安光学精密机械研究所 | Monocular vision-based liquid level measurement system and method |
| CN110793458A (en) * | 2019-10-30 | 2020-02-14 | 成都安科泰丰科技有限公司 | Coplane adjusting method for two-dimensional laser displacement sensor |
| CN110793458B (en) * | 2019-10-30 | 2022-10-21 | 成都安科泰丰科技有限公司 | Coplane adjusting method for two-dimensional laser displacement sensor |
| CN111156896A (en) * | 2020-01-02 | 2020-05-15 | 浙江大学台州研究院 | Laser auxiliary calibration device used in measurement of sizes of parts with different heights |
| CN111210479A (en) * | 2020-01-02 | 2020-05-29 | 浙江大学台州研究院 | Laser auxiliary calibration device and method for measuring sizes of parts with different heights |
| CN111156896B (en) * | 2020-01-02 | 2022-06-10 | 浙江大学台州研究院 | Laser auxiliary calibration device used in measurement of sizes of parts with different heights |
| CN111469882A (en) * | 2020-06-08 | 2020-07-31 | 青岛瑞捷轨道科技有限公司 | Use method of portable modular self-correcting rail three-dimensional detection system |
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| CN112815884A (en) * | 2020-12-23 | 2021-05-18 | 北京动力机械研究所 | Automatic detection method for measuring effective area of adjusting mechanism |
| CN112902878A (en) * | 2021-01-21 | 2021-06-04 | 中国铁道科学研究院集团有限公司基础设施检测研究所 | Method and device for adjusting laser plane of track geometry detection system |
| CN114577235A (en) * | 2022-01-28 | 2022-06-03 | 北京控制工程研究所 | Cross-scale calibration method and system for space extremely-high-precision pointing measuring instrument |
| CN114577235B (en) * | 2022-01-28 | 2024-03-15 | 北京控制工程研究所 | Cross-scale calibration method and system for spatial extremely high-precision pointing measuring instrument |
| CN114858092A (en) * | 2022-05-12 | 2022-08-05 | 万岩铁路装备(成都)有限责任公司 | Calibration system and calibration method for railway steel rail profile measurement |
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