CN109238149A - Vehicle body attitude detection device and contact line dynamic deflection amount detection systems - Google Patents
Vehicle body attitude detection device and contact line dynamic deflection amount detection systems Download PDFInfo
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- CN109238149A CN109238149A CN201811116217.3A CN201811116217A CN109238149A CN 109238149 A CN109238149 A CN 109238149A CN 201811116217 A CN201811116217 A CN 201811116217A CN 109238149 A CN109238149 A CN 109238149A
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
Abstract
A kind of vehicle body attitude detection device and contact line dynamic deflection amount detection systems, vehicle body attitude detection device includes: the first vehicle bottom image acquisition units and the second vehicle bottom image acquisition units set on vehicle bottom, daylighting axis the first rail of direction of first vehicle bottom image acquisition units, for acquiring the profile and position data of the first rail, the daylighting axis of second vehicle bottom image acquisition units is towards the second rail, for acquiring the profile and position data of the second rail；Processor, for executing following steps: step 1: calculating the first posture of car body according to the profile of the first rail and position data, and calculate the second posture of car body according to the profile and position data of the second rail；Step 2: the first posture being verified by the second posture, and when passing through verification using the first posture as current vehicle body attitude.Vehicle body attitude detection device realizes the real-time detection of vehicle body attitude, can also improve the accuracy of vehicle body attitude detection.
Description
Technical field
The present invention relates to field of track traffic, in particular to a kind of vehicle body attitude detection device and including the vehicle body attitude examine
Survey the contact line dynamic deflection amount detection systems of device.
Background technique
Subway has many advantages, such as that saving soil, freight volume is big, speed is fast, is the important component of urban transportation.In order to
The real time execution situation for solving subway train, ensures the safe operation of subway train, needs to be measured in real time vehicle body attitude.
The purpose of vehicle body attitude detection is to obtain the dynamic deflection limit of rolling stock, and then may determine that locomotive is being run
In the process whether with face line vehicle occurs scraping collision phenomenon or whether to transfinite.Existing vehicle body attitude detection method includes: using laser
Whether the offset of ranging technology detection rolling stock transfinites；Using the splicing of double light curtains and image processing techniques to lorry end
It is detected；Using the combined type of diffusing reflection, the reflection of laser polarization light and the laser diffusion detection with background function of shielding
Detection；Car body overrun condition is detected using infrared technique or CCD camera shooting and image processing techniques；It is imaged using structure light and CCD
Machine carries out Railway Cargo Gauge detection.But existing vehicle body attitude detection device all can only be static to rolling stock or by solid
Overrun condition when fixed point is detected, and cannot be randomly measured in real time to train athletic posture.Therefore, expect exploitation one
The kind vehicle body attitude detection device that structure is simple, accuracy of measurement is high.
Summary of the invention
The object of the present invention is to provide a kind of vehicle body attitude detection device and the contact including the vehicle body attitude detection device
Line dynamic deflection amount detection systems to realize the real-time detection of vehicle body attitude, improve the detection accuracy of vehicle body attitude, and are realized
The real-time detection of contact line dynamic offset avoids vehicle body attitude from changing bring detection error.
One aspect of the present invention proposes a kind of vehicle body attitude detection device, comprising:
First vehicle bottom image acquisition units and the second vehicle bottom image acquisition units, first vehicle bottom image acquisition units and
Second vehicle bottom image acquisition units are set to vehicle bottom, the daylighting axis direction one of first vehicle bottom image acquisition units
To the first rail in rail, for acquiring the profile and position data of first rail, second vehicle bottom Image Acquisition
The daylighting axis of unit is towards the second rail in the pair of rail, for acquiring the profile and positional number of second rail
According to；
Processor, the processor is for executing following steps:
Step 1: the first posture of car body is calculated according to the profile of first rail and position data, and according to described
The profile and position data of second rail calculate the second posture of car body；
Step 2: first posture being verified by second posture, and with described when through the verification
First posture is as current vehicle body attitude.
Preferably, first vehicle bottom image acquisition units and second image acquisition units are set to by mounting bracket
Vehicle bottom, and the longitudinal direction of first vehicle bottom image acquisition units and second image acquisition units relative to the car body
Median plane is symmetrical arranged.
Preferably, first vehicle bottom image acquisition units and/or the second vehicle bottom image acquisition units include laser and
CCD photoelectric detector.
Preferably, first posture for calculating car body according to the profile and position data of first rail includes:
Step 101: obtaining the standard image data of first rail, the standard image data includes first iron
The nominal contour of rail and the corresponding initial coordinate of the nominal contour；
Step 102: canonical reference point is determined in the nominal contour and using the canonical reference point as coordinate origin
The coordinate of the canonical reference point is denoted as P by canonical reference coordinate system01(x01,y01), the canonical reference coordinate system is denoted as
XP01Y, wherein x01,y01Respectively indicate abscissa, ordinate of the canonical reference point in image reference coordinate system；
Step 103: in the profile of first rail determine respectively with the canonical reference point and the canonical reference
The corresponding calculating reference point of coordinate system and calculating reference frame, are denoted as P for the coordinate of the calculating reference point1(x1,y1),
The calculating reference frame is denoted as XP1Y determines the calculating ginseng according to the profile and position data of first rail
The coordinate P of examination point1(x1,y1) and the deflection angle for calculating reference frame relative to the canonical reference coordinate system
θ1；
Step 104: according to coordinate P0(x01,y01) and coordinate P1(x1,y1) and the deflection angle θ1, determine described
The corresponding attitude vectors P of one posture01P1(Δx1,Δy1,θ1), wherein Δ x1Indicate the horizontal offset of car body, Δ y1Indicate vehicle
The offset of vertical amount of body, θ1That is deflection angle of the car body relative to perpendicular, Δ x1=x1-x01, Δ y1=y1-y01。
Preferably, the corresponding attitude vectors of second posture are P02P2(Δx2,Δy2,θ2), wherein Δ x2Indicate vehicle
The horizontal offset of body, Δ y2Indicate the offset of vertical amount of car body, θ2Indicate deflection angle of the car body relative to perpendicular, such as
Fruit Δ x1With Δ x2Difference less than the first predictive error, Δ y1With Δ y2Difference less than the second predictive error, and θ1With θ2Difference it is small
In third predictive error, then pass through the verification.
Another aspect of the present invention proposes a kind of contact line dynamic deflection amount detection systems, comprising:
Vehicle body attitude detection device according to any one of claims 1-5；
First roof distance measuring unit and the second roof distance measuring unit, the first roof distance measuring unit and the second roof ranging
Unit is respectively arranged on the two sides of car body top, for measuring the distance between described contact line from different location；
Initial offset computing unit, for the survey according to the first roof distance measuring unit and the second roof distance measuring unit
Amount result calculates initial stagger and initially leads height；
Vehicle bottom compensation calculation unit, the current vehicle body attitude for being detected according to the vehicle body attitude detection device is to described
Initial stagger and it is described initially lead height and compensate, calculate final stagger and finally lead height.
Preferably, the first roof distance measuring unit includes the first industrial camera, and the second roof distance measuring unit includes
Second industrial camera.
Preferably, first industrial camera and second industrial camera and the contact line are measured according to following steps
The distance between:
Step a): respectively demarcating first industrial camera and the second industrial camera, obtains first industry
The internal reference matrix and outer ginseng matrix of camera and the second industrial camera；
Step b): detecting the contact line position in the image of the first industrial camera shooting using image-recognizing method,
The internal reference matrix and outer ginseng Matrix Calculating for substituting into first industrial camera obtain the distance between contact line and the first industrial camera l1；
Step c): detecting the contact line position in the image of the second industrial camera shooting using image-recognizing method,
The internal reference matrix and outer ginseng Matrix Calculating for substituting into second industrial camera obtain the distance between contact line and the second industrial camera l2。
Preferably, the longitudinal direction of the first roof distance measuring unit and the second roof distance measuring unit relative to the car body
Median plane is symmetrical arranged.
Preferably, the vehicle bottom compensation calculation unit calculates the final stagger according to the following formula and described finally leads
It is high:
H '=Hcos θ+Δ y
D '=Dcos θ+Δ x
Wherein, H indicates initially to lead height, and D indicates that initial stagger, H ' indicate finally to lead height, and D ' indicates final stagger, institute
Stating the corresponding attitude vectors of current vehicle body attitude is P0P (Δ x, Δ y, θ), wherein Δ x is the horizontal offset of car body, and Δ y is
The offset of vertical amount of car body, θ are deflection angle of the car body relative to perpendicular.
The beneficial effects of the present invention are:
1, vehicle body attitude detection device can not only calculate vehicle body attitude in real time, but also can improve car body appearance by verification
The accuracy of state detection, avoids mistake caused by Image Acquisition error；
2, the current vehicle body attitude that contact line dynamic deflection amount detection systems are detected according to vehicle body attitude detection device is to first
Beginning stagger and initially lead height and compensate, so as to accurately detect stagger and lead height, avoid vehicle body attitude change to
Detection brings error.
Detailed description of the invention
Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, of the invention is above-mentioned and other
Purpose, feature and advantage will be apparent, wherein in exemplary embodiments of the present invention, identical appended drawing reference is usual
Represent same parts.
Fig. 1 shows the structural schematic diagram of vehicle body attitude detection device according to an exemplary embodiment of the present invention；
Fig. 2 a and Fig. 2 b show the vehicle base map picture of vehicle body attitude detection device according to an exemplary embodiment of the present invention respectively
The rail profile and position data that acquisition unit acquires before and after vehicle body attitude variation；
Fig. 3 show contact line dynamic deflection amount detection systems according to an exemplary embodiment of the present invention initial stagger and
Initially lead high schematic diagram calculation；
Fig. 4 show contact line dynamic deflection amount detection systems according to an exemplary embodiment of the present invention final stagger and
Finally lead high schematic diagram calculation.
Description of symbols:
The first vehicle of 1- bottom image acquisition units, the second vehicle of 2- bottom image acquisition units, 3- mounting bracket, 4- car body, 5- connect
Line is touched, 6- the first roof distance measuring unit, 7- roof distance measuring unit, the first rail of 8-, the second rail of 9-, 10- ash pillow, 11- is by electricity
Bow.
Specific embodiment
The present invention will be described in more detail below with reference to accompanying drawings.Although showing the preferred embodiment of the present invention in attached drawing,
However, it is to be appreciated that may be realized in various forms the present invention and should not be limited by the embodiments set forth herein.On the contrary, providing
These embodiments are of the invention more thorough and complete in order to make, and can will fully convey the scope of the invention to ability
The technical staff in domain.
The embodiment of the present invention provides a kind of vehicle body attitude detection device, comprising:
First vehicle bottom image acquisition units and the second vehicle bottom image acquisition units, the first vehicle bottom image acquisition units and described
Second vehicle bottom image acquisition units are set to vehicle bottom, and the daylighting axis of the first vehicle bottom image acquisition units is towards in a pair of of rail
The first rail, for acquiring the profile and position data of the first rail, the daylighting axis direction of the second vehicle bottom image acquisition units
The second rail in a pair of of rail, for acquiring the profile and position data of the second rail；
Processor, for executing following steps:
Step 1: the first posture of car body is calculated according to the profile of the first rail and position data, and according to the second rail
Profile and position data calculate car body the second posture；
Step 2: the first posture being verified by the second posture, and when passing through verification using the first posture as currently
Vehicle body attitude.
The vehicle body attitude detection device acquires two by being set to two vehicle bottom image acquisition units of vehicle bottom respectively
The profile and position data of rail, and calculate separately vehicle body attitude according to the data of two rails and verified, thus not only
The real-time detection of vehicle body attitude is realized, the accuracy of vehicle body attitude detection can also be improved.
In one example, the first vehicle bottom image acquisition units and the second image acquisition units pass through mounting bracket set on vehicle
Body bottom, and the first vehicle bottom image acquisition units and the second image acquisition units are symmetrically set relative to the longitudinal center plane of car body
It sets, thereby may be ensured that the stability of two image acquisition units, and simplify subsequent calculating.Herein, in the longitudinal direction of car body
Heart face refers to the median plane in width of the carbody direction, with being equidistant for two opposite flanks of car body.
In one example, the first vehicle bottom image acquisition units and/or the second vehicle bottom image acquisition units include laser
And CCD photoelectric detector, it is measured by laser triangulation.The laser beam of laser transmitting is radiated on rail, is passed through
It is detected after rail reflection by CCD photoelectric detector, so as to detect rail profile and position data.When car body is in traveling process
When middle posture changes, the profile and position data of CCD photoelectric detector detection change, and then can be according to data variation
Calculate vehicle body attitude.
The major advantage of laser triangulation includes: (1) using non-contact measurement, avoids to contact in contact measurement and survey
Contact pressure between head and determinand solves the problems, such as the contact larger bring lateral resolution of gauge head radius, improves inspection
Degree of testing the speed (kHz grades, and contact type measurement is 1Hz or so).(2) compared with other non-contact measurement methods, there is big biasing
Distance and big measurement range, it is lower to surface requirements to be measured, and position from defocus method and optical interferometry etc. be typically only capable to measure it is non-
The sliding surface of ordinary light；(3) semiconductor laser can be used, measuring instrument small volume, laser direction is good, and optical power is high, from
And keep measuring instrument high resolution, stability, measurement accuracy high；Intelligent test system can be formed, at the scene in conjunction with computer
Realize on-line checking, it is applied widely.
In one example, include: according to the first posture that the profile of the first rail and position data calculate car body
Step 101: obtaining the standard image data of the first rail, standard image data includes the nominal contour of the first rail
Initial coordinate corresponding with nominal contour；
Standard image data can be pre-stored in storage unit, and nominal contour can be whole profiles of rail, can also
To be the partial contour of rail.
Step 102: canonical reference point is determined in nominal contour and using canonical reference point as the canonical reference of coordinate origin
The coordinate of canonical reference point is denoted as P by coordinate system01(x01,y01), canonical reference coordinate system is denoted as XP01Y, wherein x01,y01
Respectively indicate abscissa, ordinate of the canonical reference point in image reference coordinate system；
Canonical reference point can be the geometric center of nominal contour, and Fig. 2 a shows I-shaped nominal contour, standard ginseng
Examination point P01(x01,y01) be nominal contour geometric center, canonical reference coordinate system can horizontally and vertically be respectively parallel to standard
The a line of profile.
Step 103: determination is corresponding with canonical reference point and canonical reference coordinate system respectively in the profile of the first rail
Calculating reference point and calculate reference frame, the coordinate of calculating reference point is denoted as P1(x1,y1), reference frame will be calculated
It is denoted as XP1Y determines the coordinate P of calculating reference point according to the profile and position data of the first rail1(x1,y1), and calculate ginseng
Examine deflection angle θ of the coordinate system relative to canonical reference coordinate system1；
Due to the variation of vehicle body attitude, the rail profile of vehicle bottom image acquisition units acquisition may be sent out relative to nominal contour
Offset and rotation are given birth to, calculating reference point and calculating reference frame are also sent out relative to canonical reference point and canonical reference coordinate system
Offset and rotation are given birth to.According to the profile and position data of the acquisition of vehicle bottom image acquisition units, coordinate P can be determined1(x1,y1)
And deflection angle θ1, as shown in Figure 2 b.Outline border in Fig. 2 a and Fig. 2 b indicates chart board, convenient for calculating above-mentioned offset and turning
It is dynamic.
Step 104: according to coordinate P0(x01,y01) and coordinate P1(x1,y1) and deflection angle θ1, determine the first posture pair
The attitude vectors P answered01P1(Δx1,Δy1,θ1), wherein Δ x1Indicate the horizontal offset of car body, Δ y1Indicate the vertical of car body
Offset, θ1That is deflection angle of the car body relative to perpendicular, Δ x1=x1-x01, Δ y1=y1-y01。
It is similar, the second posture of car body can be calculated according to the profile and position data of the second rail, specifically include with
Lower step:
Step 101 ': the standard image data of the second rail is obtained, standard image data includes the standard wheels of the second rail
Wide initial coordinate corresponding with nominal contour；
Step 102 ': canonical reference point is determined in nominal contour and using canonical reference point as the canonical reference of coordinate origin
The coordinate of canonical reference point is denoted as P by coordinate system02(x02,y02), canonical reference coordinate system is denoted as XP02Y, wherein x02,y02
Respectively indicate abscissa, ordinate of the canonical reference point in image reference coordinate system；
Step 103 ': determination is corresponding with canonical reference point and canonical reference coordinate system respectively in the profile of the second rail
Calculating reference point and calculate reference frame, the coordinate of calculating reference point is denoted as P2(x2,y2), reference frame will be calculated
It is denoted as XP2Y determines the coordinate P of calculating reference point according to the profile and position data of the second rail2(x2,y2), and calculate ginseng
Examine deflection angle θ of the coordinate system relative to canonical reference coordinate system2；
Step 104 ': according to coordinate P0(x02,y02) and coordinate P2(x2,y2) and deflection angle θ2, determine the second posture pair
The attitude vectors P answered02P2(Δx2,Δy2,θ2), wherein Δ x2Indicate the horizontal offset of car body, Δ y2Indicate the vertical of car body
Offset, θ2That is deflection angle of the car body relative to perpendicular, Δ x2=x2-x01, Δ y2=y2-y02。
In one example, if Δ x1With Δ x2Difference less than the first predictive error, Δ y1With Δ y2Difference less than second
Predictive error, and θ1With θ2Difference be less than third predictive error, then by two vehicle bottom image acquisition units acquire data institute
The vehicle body attitude of calculating is essentially identical, then passes through verification.
Scheme through this embodiment can not only calculate vehicle body attitude in real time, but also can improve car body by verification
The accuracy of attitude detection avoids mistake caused by Image Acquisition error.
The embodiment of the present invention also provides a kind of contact line dynamic deflection amount detection systems.Contact line is used to supply to pantograph
Electricity once contact line breaks down and will lead to the position of contact line and change, causes pantograph cannot during the work time
Stream is taken to it.Therefore it needs to carry out real-time monitoring to contact line, leads high (i.e. vertical height of the contact line away from rail level at anchor point)
With stagger (i.e. at anchor point contact line to pantograph centrode horizontal distance) be detect contact line state important finger
Mark.Existing contact line detector is usually provided in roof, acquires contact line image information meter by image acquisition units
High and stagger is led in calculation.In train travelling process, when vehicle body attitude changes, the image acquisition units of roof are also sent out therewith
Change position, calculated according to acquisition image lead height with stagger there are errors.
Of the existing technology in order to solve the problems, such as, the embodiment of the present invention proposes a kind of including vehicle body attitude detection device
Contact line dynamic deflection amount detection systems, comprising:
Aforementioned vehicle body Attitute detecting device；
First roof distance measuring unit and the second roof distance measuring unit, the first roof distance measuring unit and the second roof distance measuring unit
The two sides of car body top are respectively arranged on, for measuring the distance between contact line from different location；
Initial offset computing unit, for the measurement knot according to the first roof distance measuring unit and the second roof distance measuring unit
Fruit calculates initial stagger and initially leads height；
Vehicle bottom compensation calculation unit, the current vehicle body attitude for being detected according to vehicle body attitude detection device are pulled out to initial
It value and initially leads height and compensates, calculate final stagger and finally lead height.
The current vehicle body attitude that the contact line dynamic deflection amount detection systems are detected according to vehicle body attitude detection device is to first
Beginning stagger and initially lead height and compensate, so as to accurately detect stagger and lead height, avoid vehicle body attitude change to
Detection brings error.
First roof distance measuring unit and the second roof distance measuring unit are respectively arranged on the two sides of car body top, it is between the two away from
From being fixed value.As shown in figure 3, the distance between the contact line 5 of the first roof distance measuring unit 6 measurement is l1, the second roof
The distance between contact line 5 that distance measuring unit 7 measures is l2, the first roof distance measuring unit 6 and the second roof distance measuring unit 7 it
Between distance be l.In the case where not considering vehicle body attitude variation, initial offset computing unit can be according to distance l1, distance
l2, distance l, in conjunction with the height and width of car body 5 and two distance measuring units in the position of roof, calculate initial stagger D and
Initially lead high H.This be skilled addressee readily understands that, details are not described herein.
In one example, the first roof distance measuring unit and the second roof distance measuring unit include industrial camera.Industrial camera
There is higher picture steadiness, high-transmission ability and high anti-jamming capacity etc. compared to civil camera.According to image device
Difference, industrial camera include CCD camera and CMOS camera.
Ranging is carried out by the method for binocular vision using the first industrial camera and the second industrial camera, specific steps are such as
Under:
Step a): respectively demarcating the first industrial camera and the second industrial camera, obtains the first industrial camera and the
The internal reference matrix of two industrial cameras and outer ginseng matrix；
Step b): detecting the contact line position in the image of the first industrial camera shooting using image-recognizing method, substitutes into
The internal reference matrix of first industrial camera and outer ginseng Matrix Calculating obtain the distance between contact line and the first industrial camera l1；
Step c): detecting the contact line position in the image of the second industrial camera shooting using image-recognizing method, substitutes into
The internal reference matrix of second industrial camera and outer ginseng Matrix Calculating obtain the distance between contact line and the second industrial camera l2；
Initial offset computing unit can calculate initial stagger according to following steps d) and initially lead height:
Step d): according to distance l1, distance l2, the distance between the first industrial camera and the second industrial camera l, according to three
It is stagger that angular calculation formula, which calculates contact line relative to the horizontal offset at car body center (i.e. pantograph center), contact
Line is to lead height relative to the height of rail level.
In one example, the longitudinal center plane of the first roof distance measuring unit and the second roof distance measuring unit relative to car body
It is symmetrical arranged, is calculated with simplifying.
In one example, compensation calculation unit in vehicle bottom calculates final stagger according to the following formula and finally leads height, such as
Shown in Fig. 4:
H '=Hcos θ+Δ y
D '=Dcos θ+Δ x
Wherein, H indicates initially to lead height, and D indicates that initial stagger, H ' indicate finally to lead height, and D ' indicates final stagger, when
The corresponding attitude vectors of front vehicle body posture are P0P (Δ x, Δ y, θ), wherein Δ x is the horizontal offset of car body, and Δ y is car body
Offset of vertical amount, θ be deflection angle of the car body relative to perpendicular.
Can lead height to initial stagger and initially by above formula and compensate, avoid since vehicle body attitude changes and
Caused stagger calculates error with height is led.
According to above formula it is found that the initial stagger of calculating is final stagger when car body occurs when the vibrations are up and down,
It need to only be compensated according to the offset of vertical amount Δ y of car body to initially leading height, can be obtained and finally lead high (actually leading height).Work as vehicle
When left and right offset occurs for body, the height of initially leading of calculating as finally leads height, only need to be according to the horizontal offset Δ x of car body to initial
Stagger compensates, and can be obtained final stagger (practical stagger).When car body deflects, the initial pull-out of calculating
Value and initially lead it is high there is error, to initial stagger and initially should lead height according to car body deflection angle θ and compensate, calculate
Final stagger (practical stagger) and finally lead height (actually leading height).
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.
Claims (10)
1. a kind of vehicle body attitude detection device characterized by comprising
First vehicle bottom image acquisition units and the second vehicle bottom image acquisition units, first vehicle bottom image acquisition units and described
Second vehicle bottom image acquisition units are set to vehicle bottom, a pair of of iron of daylighting axis direction of first vehicle bottom image acquisition units
The first rail in rail, for acquiring the profile and position data of first rail, second vehicle bottom image acquisition units
Daylighting axis towards the second rail in the pair of rail, for acquiring the profile and position data of second rail；
Processor, the processor is for executing following steps:
Step 1: the first posture of car body is calculated according to the profile of first rail and position data, and according to described second
The profile and position data of rail calculate the second posture of car body；
Step 2: first posture being verified by second posture, and with described first when through the verification
Posture is as current vehicle body attitude.
2. vehicle body attitude detection device according to claim 1, which is characterized in that first vehicle bottom image acquisition units
Vehicle bottom, and first vehicle bottom image acquisition units and institute are set to by mounting bracket with second image acquisition units
The longitudinal center plane that the second image acquisition units are stated relative to the car body is symmetrical arranged.
3. vehicle body attitude detection device according to claim 1, which is characterized in that first vehicle bottom image acquisition units
And/or second vehicle bottom image acquisition units include laser and CCD photoelectric detector.
4. vehicle body attitude detection device according to claim 1, which is characterized in that the wheel according to first rail
The first posture that wide and position data calculates car body includes:
Step 101: obtaining the standard image data of first rail, the standard image data includes first rail
Nominal contour and the corresponding initial coordinate of the nominal contour；
Step 102: canonical reference point is determined in the nominal contour and using the canonical reference point as the standard of coordinate origin
The coordinate of the canonical reference point is denoted as P by reference frame01(x01,y01), the canonical reference coordinate system is denoted as XP01Y,
Wherein, x01,y01Respectively indicate abscissa, ordinate of the canonical reference point in image reference coordinate system；
Step 103: in the profile of first rail determine respectively with the canonical reference point and the canonical reference coordinate
It is corresponding calculating reference point and calculating reference frame, the coordinate of the calculating reference point is denoted as P1(x1,y1), by institute
It states calculating reference frame and is denoted as XP1Y determines the calculating reference point according to the profile and position data of first rail
Coordinate P1(x1,y1) and the deflection angle θ for calculating reference frame relative to the canonical reference coordinate system1；
Step 104: according to coordinate P0(x01,y01) and coordinate P1(x1,y1) and the deflection angle θ1, determine first appearance
The corresponding attitude vectors P of state01P1(Δx1,Δy1,θ1), wherein Δ x1Indicate the horizontal offset of car body, Δ y1Indicate car body
Offset of vertical amount, θ1That is deflection angle of the car body relative to perpendicular, Δ x1=x1-x01, Δ y1=y1-y01。
5. vehicle body attitude detection device according to claim 4, which is characterized in that the corresponding posture of second posture to
Amount is P02P2(Δx2,Δy2,θ2), wherein Δ x2Indicate the horizontal offset of car body, Δ y2Indicate the offset of vertical amount of car body,
θ2Deflection angle of the car body relative to perpendicular is indicated, if Δ x1With Δ x2Difference less than the first predictive error, Δ y1With Δ
y2Difference less than the second predictive error, and θ1With θ2Difference be less than third predictive error, then pass through the verification.
6. a kind of contact line dynamic deflection amount detection systems characterized by comprising
Vehicle body attitude detection device according to any one of claims 1-5；
First roof distance measuring unit and the second roof distance measuring unit, the first roof distance measuring unit and the second roof distance measuring unit
The two sides of car body top are respectively arranged on, for measuring the distance between described contact line from different location；
Initial offset computing unit, for the measurement knot according to the first roof distance measuring unit and the second roof distance measuring unit
Fruit calculates initial stagger and initially leads height；
Vehicle bottom compensation calculation unit, the current vehicle body attitude for being detected according to the vehicle body attitude detection device is to described initial
Stagger and it is described initially lead height and compensate, calculate final stagger and finally lead height.
7. contact line dynamic deflection amount detection systems according to claim 6, which is characterized in that the first roof ranging
Unit includes the first industrial camera, and the second roof distance measuring unit includes the second industrial camera.
8. contact line dynamic deflection amount detection systems according to claim 7, which is characterized in that measured according to following steps
First industrial camera and the distance between second industrial camera and the contact line:
Step a): respectively demarcating first industrial camera and the second industrial camera, obtains first industrial camera
With the internal reference matrix and outer ginseng matrix of the second industrial camera；
Step b): the contact line position in the image of the first industrial camera shooting is detected using image-recognizing method, is substituted into
The internal reference matrix of first industrial camera and outer ginseng Matrix Calculating obtain the distance between contact line and the first industrial camera l1；
Step c): the contact line position in the image of the second industrial camera shooting is detected using image-recognizing method, is substituted into
The internal reference matrix of second industrial camera and outer ginseng Matrix Calculating obtain the distance between contact line and the second industrial camera l2。
9. contact line dynamic deflection amount detection systems according to claim 7, which is characterized in that the first roof ranging
Unit and the second roof distance measuring unit are symmetrical arranged relative to the longitudinal center plane of the car body.
10. contact line dynamic deflection amount detection systems according to claim 6, which is characterized in that the vehicle bottom compensation meter
Unit is calculated to calculate the final stagger according to the following formula and described finally lead height:
H '=Hcos θ+Δ y
D '=Dcos θ+Δ x
Wherein, H indicates initially to lead height, and D indicates that initial stagger, H ' indicate finally to lead height, and D ' indicates final stagger, described to work as
The corresponding attitude vectors of front vehicle body posture are P0P (Δ x, Δ y, θ), wherein Δ x is the horizontal offset of car body, and Δ y is car body
Offset of vertical amount, θ be deflection angle of the car body relative to perpendicular.
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