CN109653045B - Track gauge measuring method and device - Google Patents
Track gauge measuring method and device Download PDFInfo
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- CN109653045B CN109653045B CN201910078759.4A CN201910078759A CN109653045B CN 109653045 B CN109653045 B CN 109653045B CN 201910078759 A CN201910078759 A CN 201910078759A CN 109653045 B CN109653045 B CN 109653045B
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B35/00—Applications of measuring apparatus or devices for track-building purposes
- E01B35/02—Applications of measuring apparatus or devices for track-building purposes for spacing, for cross levelling; for laying-out curves
Abstract
The embodiment of the invention provides a track gauge measuring method and a device, wherein the method comprises the following steps: continuously measuring by using a line scanning three-dimensional measuring sensor to obtain elevation data of a steel rail to be measured, wherein the steel rail comprises a left steel rail and a right steel rail; positioning in the elevation data to obtain steel rail tread data and rail head inner side edge data; acquiring inner side edge points of the steel rail according to the tread data of the steel rail and the inner side edge data of the rail head, wherein the inner side edge points of the steel rail comprise a first inner side edge point positioned on the left steel rail and a second inner side edge point positioned on the right steel rail; and taking the distance between the first inner side edge point and the second inner side edge point as the track gauge. According to the embodiment of the invention, the elevation data of the steel rail to be measured is obtained by continuously measuring through the line scanning three-dimensional measuring sensor, and the gauge is obtained based on the elevation data; due to the density of sampling points of the line scanning three-dimensional measuring sensor in the cross section direction, the influence of the surface relief texture of the steel rail on the measuring result is reduced, and the measuring precision is improved compared with the prior art.
Description
Technical Field
The embodiment of the invention relates to the technical field of measurement, in particular to a track gauge measuring method and device.
Background
The track gauge is an important parameter in the geometric dimension of the steel rail, and the timely grasping of the track gauge information has important significance for ensuring the driving safety. The early non-contact track gauge detection method is to use a photoelectric sensor and a servo mechanism for measurement, but the method is greatly influenced by vibration and climate and the servo mechanism is easy to damage. In recent years, in the prior art, four laser distance measuring instruments are adopted to respectively detect the distance from a position 16mm below a rail surface to the center of a rail inspection vehicle, and then the rail gauge is calculated. However, the measurement method adopts a single-point distance measurement scheme, which is greatly influenced by the surface relief texture (such as rust) of the steel rail, and cannot effectively eliminate measurement errors in measurement points, so that the precision of measurement results cannot be guaranteed in some environments.
Disclosure of Invention
To solve the above problems, embodiments of the present invention provide a track gauge measuring method and apparatus that overcome or at least partially solve the above problems.
According to a first aspect of embodiments of the present invention, there is provided a track gauge measuring method, the method including: continuously measuring by using a line scanning three-dimensional measuring sensor to obtain elevation data of a steel rail to be measured, wherein the steel rail comprises a left steel rail and a right steel rail; positioning in the elevation data to obtain steel rail tread data and rail head inner side edge data; acquiring inner side edge points of the steel rail according to the tread data of the steel rail and the inner side edge data of the rail head, wherein the inner side edge points of the steel rail comprise a first inner side edge point positioned on the left steel rail and a second inner side edge point positioned on the right steel rail; and taking the distance between the first inner side edge point and the second inner side edge point as the track gauge.
According to a second aspect of the embodiments of the present invention, there is provided a gauge measuring apparatus including: the system comprises a line scanning three-dimensional measuring sensor, a mileage encoder and a measuring carrier; the mileage encoder and the at least one line scanning three-dimensional sensor are arranged on the measuring carrier; the measuring carrier is used for moving along the steel rail to be measured; the line scanning three-dimensional measuring sensor consists of a laser and a three-dimensional camera and is used for transmitting a linear laser line to the steel rail and acquiring elevation data of the surface profile of the steel rail corresponding to the laser line; the line scanning three-dimensional measuring sensor covers the bottom of the steel rail in the measuring range of the cross section direction of the steel rail; the mileage encoder is used for recording the mileage information of the measuring carrier along the steel rail.
According to a third aspect of the embodiments of the present invention, there is provided an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the track gauge measuring method as provided in any one of the various possible implementations of the first aspect.
According to the track gauge measuring method and device provided by the embodiment of the invention, the elevation data of the steel rail to be measured is obtained by adopting the line scanning three-dimensional measuring sensor for continuous measurement, and the track gauge is obtained based on the elevation data; due to the density of sampling points of the line scanning three-dimensional measuring sensor in the cross section direction, the influence of the surface relief texture of the steel rail on the measuring result is reduced, and the measuring precision is improved compared with the prior art.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from these without inventive effort.
Fig. 1 is a schematic flow chart of a track gauge measuring method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a measurement scheme provided by an embodiment of the present invention;
FIG. 3 is a schematic view of a rail tread, a rail head inside edge location area, and a rail head inside lower edge point provided by an embodiment of the present invention;
FIG. 4 is a schematic cross-sectional view of a rail after pretreatment according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of converting preprocessed steel rail three-dimensional data or elevation point cloud data into gray scale data according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of rail tread and rail head inside edge position data provided by an embodiment of the present invention;
FIG. 7 is a schematic diagram of a cross-section-based track gauge calculation result according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating a result of a modified track gauge calculation according to an embodiment of the present invention;
fig. 9 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a track gauge measuring method, referring to fig. 1, the method includes but is not limited to:
and step 10, continuously measuring by using a line scanning three-dimensional measuring sensor to obtain the elevation data of the steel rail to be measured, wherein the steel rail comprises a left steel rail and a right steel rail.
The line scanning three-dimensional measuring sensor can be composed of a three-dimensional camera, a laser and a controller, and the line scanning three-dimensional sensor can obtain the elevation of the surface of the steel rail corresponding to the laser line by utilizing a triangulation principle. The line-scanning three-dimensional measuring sensor can be arranged on a measuring carrier (such as a trolley), and the measuring carrier can move along a steel rail. The measuring range of the line scanning three-dimensional measuring sensor in the X direction at least covers the bottom of the steel rail. The section measuring direction of the line scanning three-dimensional measuring sensor is parallel to the cross section direction of the steel rail, namely perpendicular to the travelling direction of the measuring carrier. In the measuring process, the measuring carrier can be driven to move along the steel rail, and the line scanning three-dimensional measuring sensor can continuously measure in the moving process of the measuring carrier, so that the elevation data of the steel rail can be obtained.
And 20, positioning in the elevation data to obtain steel rail tread data and rail head inner side edge data.
Specifically, the elevation data acquired in step 10 is the elevation data of the entire rail, and the rail is composed of a plurality of portions, wherein the rail tread is the portion of the rail that contacts the wheel. In this step, rail tread data and rail head inside edge data are extracted from the elevation.
And step 30, acquiring inner side edge points of the steel rail according to the tread data of the steel rail and the inner side edge data of the rail head, wherein the inner side edge points of the steel rail comprise a first inner side edge point positioned on the left steel rail and a second inner side edge point positioned on the right steel rail.
The inner edge point is the closest point to the track center in one cross section of the steel rail. The left rail and the right rail are respectively provided with an inner side edge point.
And step 40, taking the distance between the first inner side edge point and the second inner side edge point as a track gauge.
And the distance between the first inner side edge point and the second inner side edge point is the Euclidean distance. The distance is the distance of the two inner side edge points in the transverse direction (i.e., the X direction in fig. 2). Because the line scanning three-dimensional measuring sensor is used for continuously measuring the obtained elevation data, the track gauges at different mileage positions of the track can be calculated.
According to the track gauge measuring method provided by the embodiment of the invention, the elevation data of the steel rail to be measured is obtained by adopting the line scanning three-dimensional measuring sensor for continuous measurement, and the track gauge is obtained based on the elevation data; due to the density of sampling points of the line scanning three-dimensional measuring sensor in the cross section direction, the influence of the surface relief texture of the steel rail on the measuring result is reduced, and the measuring precision is improved compared with the prior art.
Based on the content of the foregoing embodiments, as an alternative embodiment, there is provided a method for obtaining rail tread surface data and rail head inside edge data by positioning in elevation data, including but not limited to the following steps:
step 21, obtaining potential steel rail tread data and rail head inner side edge data through preliminary positioning in elevation data through elevation change characteristics; the elevation change characteristics comprise at least one of characteristics that the elevation of the steel rail tread data and the data of the inner side edge of the rail head is relatively high, characteristics that the rail head data and the rail web data jump in elevation, and characteristics that the curvature change of the lower edge of the rail head is large.
Specifically, the principle of the step is that the tread of the steel rail and the inner side edge of the rail head are positioned by utilizing the relative distance relationship between the relatively high elevation of the rail head, the shape of the steel rail head and the mounting position of the line scanning three-dimensional measuring sensor and the steel rail. Specifically, in the process of acquiring data of the steel rail tread and the inner side edge of the steel rail head, the potential steel rail tread and the inner side edge data feature point of the steel rail head are preliminarily positioned by utilizing the characteristics that the elevation is relatively high, and the jump occurs on the elevation of the measured data of the rail head and the measured data of the rail web or the curvature change of the inner side lower edge of the rail head is large.
And step 22, removing potential foreign matter region data in the rail tread data and the rail head inner side edge data through the distance relation between the line scanning three-dimensional measuring sensor and the rail to obtain the rail tread data and the rail head inner side edge data.
Specifically, the data of the foreign matter region caused by the foreign matter such as lamps in the track plate region can be removed by using the relative distance relationship between the mounting position of the line scanning three-dimensional measurement sensor and the rail (i.e., the approximate position of the rail in the measurement range in the X direction). The accuracy of track gauge measurement can be improved by the elimination of foreign matter region data.
Based on the content of the foregoing embodiment, as an alternative embodiment, before removing the potential data of the rail tread surface and the foreign object region in the rail head inside edge data through the distance relationship between the line scanning three-dimensional measurement sensor and the rail, the method further includes: and removing potential noise region data in the rail tread data and the rail head inner side edge data through the continuity of the rail head data in the cross section direction and the width range characteristic in the cross section direction. That is, the partial noise region is removed by using the continuity of the rail head data in the transverse direction and the width range characteristic in the X direction.
Based on the content of the above embodiments, as an alternative embodiment, a method for acquiring an inner side edge point of a rail according to rail tread data and rail head inner side edge data is provided, and the principle of the method is as follows: calculating the elevation of the tread of the steel rail based on the acquired data of the tread of the steel rail and the inner side edge of the rail head, and comprehensively determining the tread and the inner side edge point set S of the steel rail within a set range (such as 16mm) below the tread of the steel rail by combining the elevation of the inner side lower edge point (marked as A) of the rail head; and selecting the point closest to the track center in the X direction from the set S, and taking the point as the inner edge point of the steel rail participating in the track gauge calculation. Specifically, the method includes, but is not limited to, the steps of:
and step 31, calculating the tread elevation of the steel rail according to the tread data of the steel rail and the data of the inner side edge of the rail head.
In this step, based on the content of the foregoing embodiment, as an optional embodiment, the step 31 specifically includes: carrying out small-range filtering processing on the steel rail tread data and the rail head inner side edge data; and taking the maximum elevation in the elevations corresponding to each data point in the filtered steel rail tread data and the rail head inner side edge data as the tread elevation. In other words, the acquired data of the tread and the inner side edge of the railhead of the steel rail can be filtered in a small range; and then, taking the highest height in the filtered steel rail tread and rail head inner side edge data as tread height.
Step 32, determining a tread and a steel rail inner side edge point set which are positioned in a set range under a steel rail tread according to the tread elevation and the elevation of the lower edge point of the inner side of the rail head; and the lower edge point of the inner side of the railhead is the point with the lowest height in the steel rail tread data and the data of the inner side edge of the railhead.
Specifically, the elevation of the point at the lower edge point on the inner side of the railhead is the lowest elevation in the filtered rail tread data and the data of the inner edge of the railhead, that is, the point a in fig. 3.
Based on the content of the foregoing embodiments, as an alternative embodiment, there is provided a method for determining a set of tread surface and rail inner side edge points located within a set range under a rail tread surface according to an elevation of the tread surface and an elevation of the rail head inner side lower edge points, including but not limited to the following steps:
and 321, making a difference between the elevation of the tread and the elevation of the lower edge point on the inner side of the rail head to obtain an elevation difference. The height difference can be recorded as h.
And 322, calculating to obtain an elevation range according to the elevation difference, the standard elevation difference and the set range. In particular, the targetThe standard height difference is the height difference H from the point A of the lower edge point of the inner side of the rail head to the tread in the standard rail head size. It will be appreciated that H is a standard fixed value and H is a random value obtained based on the measured value. Set height range T of interception under rail tread heightHThe elevation range may be calculated by the following equation:
TH＝a*w1+h/H*a*w2
in the formula, a is a set range, for example, a is 16; wherein, w1＝0.7，w2＝0.3。
And 323, forming a tread and a steel rail inner side edge point set by data points with elevations within the elevation range under the steel rail tread. In other words, the set S is the lower T of the rail treadHTread and rail inside edge points within the range.
And step 33, selecting the data point closest to the center of the rail in the cross section direction from the tread and the steel rail inner side edge point set, and taking the data point as the steel rail inner side edge point.
Based on the above disclosure of the embodiments, as an alternative embodiment, before locating and obtaining the rail tread surface data and the rail head inside edge data in the elevation data, a method of preprocessing is also provided, which includes but is not limited to: and converting the image space coordinate to the object space coordinate through the calibration file, wherein the calibration file is used for recording the conversion relation between the image space coordinate and the object space coordinate.
Specifically, the elevation data may be preprocessed before the rail tread and the rail head inside edge points are acquired. The preprocessing may include both coordinate transformation and outlier processing. Wherein, for the coordinate conversion section: and (3) converting the image-space coordinates into object-space coordinates by using the measured data (namely, the (X, Z) coordinates of the measured data on the object space are obtained by calibration) through the calibration file. The calibration file can be obtained by the following method: after the on-line scanning three-dimensional measuring sensor is installed on a measuring carrier, the conversion relation from an image space coordinate to an object space coordinate is recorded by a calibration method before measuring the track gauge.
Based on the content of the foregoing embodiment, as an alternative embodiment, after taking the distance between the first inside edge point and the second inside edge point as the track gauge, there is further provided a method for correcting the measurement result, including but not limited to: performing median filtering processing on the track gauge data set to obtain a reference track gauge; the rail gauge data set comprises rail gauges corresponding to a plurality of measuring points located at different mileage positions in the steel rail respectively; and processing abnormal values for the track gauge corresponding to each measuring point. The outlier processing includes: comparing the track gauge with a reference track gauge to obtain a difference value; and if the difference value is larger than the difference threshold value, replacing the track gauge of the measuring point with the reference track gauge or deleting the track gauge of the measuring point. And filtering the track gauge data processed by the abnormal value to obtain a final track gauge measurement result.
Specifically, since the measured rail data is affected by the surface relief texture and the measurement attitude of the rail, the track gauge calculated based on a single section has a large measurement error, and therefore the track gauge calculated based on the section needs to be corrected. In the correction process, the abnormal track gauge data is removed, and then the track gauge data after abnormal processing is filtered, so that the final (corrected) track gauge measurement result is obtained. The method specifically comprises the following steps: firstly, filtering original track gauge data to obtain a reference track gauge, analyzing a difference value D between the original track gauge and the reference track gauge, and deleting the difference value larger than TDThe measured value (or the original measured value of the current measuring point is replaced by the reference track gauge value of the current measuring point), and then the track gauge data after abnormal processing is filtered, so as to obtain the final (corrected) track gauge measuring result. The track gauge data filtering can adopt filters such as mean filtering, Gaussian filtering and the like. The measurement result is less influenced by the surface relief texture and the measurement attitude of the steel rail through the correction, and the measurement result is stable and reliable and has strong anti-interference capability.
In summary, the track gauge measuring method provided by the embodiment of the invention has at least the following beneficial effects:
(1) the density of sampling points of the line scanning three-dimensional measuring sensor in the cross section direction reduces the influence of the surface relief texture of the steel rail on a measuring result, and meanwhile, a tread within a 16mm range below a tread of the steel rail and a plurality of measuring points on the inner side edge of the steel rail can be accurately obtained, so that the minimum distance between two steel rail action edges within a 16mm range below the top surface of the steel rail can be accurately searched, and the accuracy of calculating the rail distance based on the section is improved;
(2) because the sampling points of the line scanning three-dimensional measuring sensor in the Y direction (measuring moving direction) are very dense, the track gauge calculated based on the section is corrected, so that the measuring result is less influenced by the surface relief texture and the measuring attitude of the steel rail, the measuring result is stable and reliable, and the anti-interference capability is strong;
(3) the non-contact rapid, continuous and dynamic measurement of the rail gauge of the steel rail is realized, and the detection efficiency is improved.
An embodiment of the present invention further provides a track gauge measuring apparatus used in the track gauge measuring method provided in any one of the above embodiments, where the apparatus includes: the system comprises a line scanning three-dimensional measuring sensor, a mileage encoder and a measuring carrier; the mileage encoder and the at least one line scanning three-dimensional sensor are arranged on the measuring carrier; the measuring carrier is used for moving along the steel rail to be measured; the line scanning three-dimensional measurement sensor is composed of a laser and a three-dimensional camera, and is used for emitting a linear laser line to the steel rail and acquiring elevation data of the surface profile of the steel rail corresponding to the linear laser line; the line scanning three-dimensional measuring sensor covers the bottom of the steel rail in the measuring range of the cross section direction of the steel rail; the mileage encoder is used for recording the mileage information of the measuring carrier along the steel rail.
The gauge measuring device is used for measuring three-dimensional information of the steel rail. The line scanning three-dimensional measuring sensor can be a set of line scanning three-dimensional measuring sensor or a plurality of sets of line scanning three-dimensional measuring sensors. The line scanning three-dimensional measuring sensor consists of a three-dimensional camera, a laser and a controller, and the elevation data of the surface of the steel rail corresponding to the laser line is obtained by utilizing the triangulation principle. The measuring precision of the line scanning three-dimensional measuring sensor in the cross section direction (X direction) of the steel rail is higher than 1mm (the resolution is less than 1mm), and the measuring range of the line scanning three-dimensional measuring sensor in the cross section direction (X direction) of the steel rail needs to cover the bottom of the steel rail. The mileage encoder is used for recording mileage information run by the measuring carrier. The measuring carrier can move on the steel rail along the direction of the steel rail, and the moving speed of the measuring carrier can be 0 km/h-300 km/h. The sampling frequency of the line scanning three-dimensional measuring sensor is more than 1000 Hz/s. The measurement accuracy of the line scanning three-dimensional measurement sensor in the elevation direction (Z direction) is higher than 1mm (the resolution is less than 1 mm). The mounting area of the line scanning three-dimensional measuring sensor is above the steel rail. The section measuring direction of the line scanning three-dimensional measuring sensor is the cross section direction of the steel rail, namely the direction vertical to the travelling direction.
In order to illustrate the track gauge measuring method and the track gauge measuring device provided by the embodiment of the present invention, a specific example is described as follows:
a set of line scanning three-dimensional measuring sensor is adopted to obtain the three-dimensional information of the steel rail, wherein the three-dimensional measuring sensor is arranged in the middle area of the X direction of the steel rail and is about 1950mm away from the tread of the steel rail in the Z direction; the measurement accuracy of the line scanning three-dimensional measurement sensor in the cross section direction (X direction) of the steel rail is 0.9mm, and the theoretical measurement accuracy in the elevation direction (Z direction) is about 0.2 mm. The measuring range of the scanning three-dimensional measuring sensor in the cross section direction (X direction) of the steel rail covers the bottom area of the steel rail. The sampling frequency of the line scanning three-dimensional measuring sensor is more than 13000 Hz/s. The detection object in the experiment is a 50kg/m standard steel rail.
The data processing flow of the track gauge calculation method is as follows:
step 1, data preprocessing. Converting the measured data from an image space coordinate to an object space coordinate through a calibration file (namely acquiring an (X, Z) coordinate of the measured data in an object space through calibration); after the online scanning three-dimensional measurement sensor is arranged on a measurement carrier and before the track gauge measurement, recording the conversion relation from an image space coordinate to an object space coordinate by a calibration method; and then removing zero abnormal values in the measured data, wherein the preprocessed steel rail section data is shown in figure 4, and the preprocessed steel rail three-dimensional data is shown in figure 5.
And 2, obtaining the tread of the steel rail and the edge position of the inner side of the rail head. In the process of acquiring data of the tread of the steel rail and the inner side edge of the rail head of the steel rail, firstly, utilizing the characteristics that the elevation of the tread of the steel rail is relatively high and the measured data of the rail head and the measured data of the rail web jump in the elevation, and preliminarily positioning potential data characteristic points of the tread of the steel rail and the inner side edge of the rail head of the steel rail; removing part of noise areas by using the continuity of the rail head data of the steel rail in the cross section direction and the width range characteristic in the X direction; finally, removing the data of the noise areas such as lamps, foreign matters and the like in the steel rail plate area by utilizing the relative distance relationship between the installation position of the line scanning three-dimensional measuring sensor and the steel rail (the measuring range of the left steel rail in the X direction is about 50-350 mm, and the measuring range of the right steel rail in the X direction is about 1450-1750 mm); the obtained rail tread and head inside edge position data are shown in fig. 6.
And 3, accurately extracting the edge points of the inner side of the steel rail participating in the track gauge calculation. The acquired data of the tread of the steel rail and the inner side edge of the rail head can be filtered in a small range; calculating the height of the tread of the steel rail, and taking the height with the highest height in the filtered data of the tread of the steel rail and the inner side edge of the rail head as the height of the tread; the elevation of the lower edge point (marked as A) on the inner side of the railhead is the point with the lowest elevation in the data of the inner edge of the railhead after filtering treatment; the method comprises the following steps of combining the height of a steel rail tread and the height of the lower edge point of the inner side of a rail head, comprehensively determining the tread and the inner side edge point set S of the steel rail within the range of 16mm below the steel rail tread, and specifically comprises the following steps: firstly, calculating the height difference H between the lower edge point A on the inner side of the rail head and the tread elevation in the measured data, and setting the height range T intercepted under the rail tread elevation by combining the height difference H between the lower edge point A on the inner side of the rail head and the rail head in the standard rail head sizeH(TH＝16*w1+h/H*16*w2Wherein w is1＝0.7，w20.3) (unit: mm), i.e. the set S is the lower T of the rail treadHTread and rail inside edge points within the range.
And 4, calculating the track gauge based on the section. Respectively obtaining the inside edge points of the left and right steel rails participating in the track gauge calculation according to the step 3, and calculating the Euclidean distance of the two edge points in the X direction; the calculation results are shown in fig. 7;
and 5, correcting the measurement result. Because the measured rail data is influenced by the surface relief texture and the measurement attitude of the rail, the rail gauge calculated based on a single section has a large measurement error, and therefore the rail gauge calculated based on the section needs to be corrected. In the correction process, firstly, abnormal track gauge data is processed, and the specific steps are as follows: firstly, the original track gauge number is measuredPerforming median filtering (radius is 10) to obtain reference track gauge, analyzing difference D between original track gauge and reference track gauge, and determining if difference D between current measurement point is greater than TD(TD1.5mm), the original measurement value of the current station is replaced by the reference gauge value of the current station. And finally, performing average filtering with the radius of 20 on the track gauge data after abnormal value processing to obtain a final (corrected) track gauge measurement result. The corrected track gauge calculation results are shown in fig. 8.
An embodiment of the present invention provides an electronic device, as shown in fig. 9, the electronic device includes: a processor (processor)901, a communication Interface (Communications Interface)902, a memory (memory)903 and a communication bus 904, wherein the processor 901, the communication Interface 902 and the memory 903 are communicated with each other through the communication bus 904. The processor 901 may call a computer program on the memory 903 and operable on the processor 901 to execute the track gauge measuring method provided by the above embodiments, for example, including: continuously measuring by using a line scanning three-dimensional measuring sensor to obtain elevation data of a steel rail to be measured, wherein the steel rail comprises a left steel rail and a right steel rail; positioning in the elevation data to obtain steel rail tread data and rail head inner side edge data; acquiring inner side edge points of the steel rail according to the tread data of the steel rail and the inner side edge data of the rail head, wherein the inner side edge points of the steel rail comprise a first inner side edge point positioned on the left steel rail and a second inner side edge point positioned on the right steel rail; and taking the distance between the first inner side edge point and the second inner side edge point as the track gauge.
In addition, the logic instructions in the memory 903 may be implemented in a software functional unit and stored in a computer readable storage medium when the logic instructions are sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the electronic device and the like are merely illustrative, and units illustrated as separate components may or may not be physically separate, and components displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute the various embodiments or some parts of the methods of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A method of gauge measurement, comprising:
continuously measuring and obtaining elevation data of a steel rail to be measured by adopting a line scanning three-dimensional measuring sensor, wherein the steel rail comprises a left steel rail and a right steel rail;
positioning in the elevation data to obtain steel rail tread data and rail head inner side edge data;
acquiring inner side edge points of the steel rail according to the steel rail tread data and the rail head inner side edge data, wherein the inner side edge points of the steel rail comprise a first inner side edge point positioned on the left steel rail and a second inner side edge point positioned on the right steel rail;
taking the distance between the first inner side edge point and the second inner side edge point as a track gauge;
the inboard edge point of rail is acquireed according to rail tread data and inboard edge data of railhead includes:
calculating the tread elevation of the steel rail according to the tread data of the steel rail and the data of the inner side edge of the rail head;
determining a tread and a rail inner side edge point set which are positioned in a set range under the rail tread according to the tread elevation and the elevation of the rail head inner side lower edge point; wherein, the lower edge point of the inner side of the railhead is the lowest point of the high range in the steel rail tread data and the data of the inner side edge of the railhead;
selecting a data point closest to the center of the rail in the cross section direction from the tread and the steel rail inner side edge point set, and taking the data point as the steel rail inner side edge point;
calculating the tread elevation of the steel rail according to the steel rail tread data and the data of the inner side edge of the rail head, and the method comprises the following steps:
carrying out small-range filtering processing on the steel rail tread data and the data of the inner side edge of the rail head;
taking the maximum elevation in the elevations corresponding to each data point in the filtered steel rail tread data and the rail head inside edge data as the tread elevation;
the line scanning three-dimensional measurement sensor consists of a three-dimensional camera, a laser and a controller, and the elevation data of the surface of the steel rail corresponding to the laser line is obtained by utilizing the triangulation principle; the measuring precision of the line scanning three-dimensional measuring sensor in the cross section direction of the steel rail is higher than 1mm, and the sampling frequency is more than 1000 Hz/s;
according to the tread elevation and the elevation of the inboard lower edge point of railhead confirm the tread and the inboard edge point set of rail that lie in under the rail tread within the set range, include:
making a difference between the elevation of the tread and the elevation of a lower edge point on the inner side of the rail head to obtain an elevation difference;
calculating to obtain an elevation range according to the elevation difference, the standard elevation difference and the set range;
forming a tread and a steel rail inner side edge point set by data points with elevations positioned in the elevation range under the steel rail tread;
wherein the standard height difference is the height difference H from the lower edge point of the inner side of the rail head to the tread in the standard rail head size; h is the actually measured elevation difference between the tread elevation and the lower edge point of the inner side of the rail head; height range T intercepted under steel rail tread heightHCan be calculated by the following formula: t isHA w1+ H/H a w 2; wherein a is a set range, and w1 and w2 are weight coefficients;
before positioning and obtaining the steel rail tread data and the rail head inner side edge data in the elevation data, the method further comprises the following steps:
converting the elevation data from an image space coordinate to an object space coordinate through a calibration file, wherein the calibration file is used for recording the conversion relation between the image space coordinate and the object space coordinate;
after the taking the distance between the first inside edge point and the second inside edge point as the track gauge, the method further includes:
performing median filtering processing on the track gauge data set to obtain a reference track gauge; the rail gauge data set comprises rail gauges corresponding to a plurality of measuring points located at different mileage positions in the steel rail respectively;
processing abnormal values of the track gauge corresponding to each measuring point; the outlier processing includes: comparing the track gauge with the reference track gauge to obtain a difference value; if the difference value is larger than the difference threshold value, replacing the track gauge of the measuring point with the reference track gauge or deleting the track gauge of the measuring point;
and filtering the track gauge data after the abnormal value processing to obtain a final track gauge measuring result.
2. The method of claim 1, wherein said locating in said elevation data to obtain rail tread surface data and rail head inside edge data comprises:
primarily positioning in the elevation data through the elevation change characteristics to obtain potential steel rail tread data and rail head inner side edge data; the elevation change characteristics comprise at least one of characteristics that the elevation of the steel rail tread data and the data of the inner side edge of the rail head is relatively high, characteristics that the rail head data and the rail web data jump in elevation, and characteristics that the curvature change of the lower edge of the rail head is large;
and removing foreign matter region data in the potential steel rail tread data and the rail head inner side edge data through the distance relation between the line scanning three-dimensional measuring sensor and the steel rail to obtain the steel rail tread data and the rail head inner side edge data.
3. The method of claim 2, wherein prior to removing the foreign object region data from the potential rail tread surface data and rail head inside edge data by the distance relationship between the line-scanning three-dimensional measurement sensor and the rail, further comprising:
and removing the noise region data in the potential steel rail tread data and the rail head inner side edge data through the continuity of the rail head data in the cross section direction and the width range characteristics in the cross section direction.
4. A track gauge measuring apparatus used in the track gauge measuring method according to any one of claims 1 to 3, comprising: the system comprises a line scanning three-dimensional measuring sensor, a mileage encoder and a measuring carrier; the mileage encoder and at least one line scanning three-dimensional sensor are arranged on the measurement carrier;
the measuring carrier is used for moving along a steel rail to be measured;
the line scanning three-dimensional measurement sensor consists of a laser and a three-dimensional camera, and is used for emitting a linear laser line to the steel rail and acquiring elevation data of the surface profile of the steel rail corresponding to the linear laser line; the measuring range of the line scanning three-dimensional measuring sensor in the cross section direction of the steel rail covers the bottom of the steel rail;
the mileage encoder is used for recording mileage information of the measuring carrier running along the steel rail.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of rail gauge measurement according to any of claims 1 to 3 are implemented when the processor executes the program.
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