CN110231008A - High and pull-out value measurement mechanism and method are led based on the contact net being imaged twice - Google Patents
High and pull-out value measurement mechanism and method are led based on the contact net being imaged twice Download PDFInfo
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- CN110231008A CN110231008A CN201910503860.XA CN201910503860A CN110231008A CN 110231008 A CN110231008 A CN 110231008A CN 201910503860 A CN201910503860 A CN 201910503860A CN 110231008 A CN110231008 A CN 110231008A
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Classifications
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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
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
Abstract
It is a kind of that high and pull-out value measurement mechanism and method are led based on the contact net being imaged twice, including measurement vehicle platform, distance measuring sensor, camera pose adjustment platform, monocular vision camera, controller and man-machine interface, camera pose adjusts stage+module on measurement vehicle platform, monocular vision camera is installed on camera pose adjustment platform, camera pose adjustment platform, monocular vision camera, distance measuring sensor, displacement sensor and angular transducer are connect with controller, and man-machine interface is connect with controller.High and stagger is led in the calculating of the information of displacement sensor and angular transducer on controller acquisition monocular vision camera, distance measuring sensor and camera pose adjustment platform.The present invention uses a camera, avoids that backlight occasion can not be imaged or image quality is bad leads to not measurement or the problem of measurement accuracy reduces, be not related to complicated images match, feature identification scheduling algorithm, realize simple, high reliablity.
Description
Technical field
The device and side that high and stagger measures are led for electric railway progress contact net the present invention relates to a kind of
Method belongs to rail traffic detection technique field.
Background technique
In electrified railway construction and operation maintenance, needs to lead contact net high and pull-out value parameter and measure.At present
Railway power supply maintenance grass-roots unit and electrified railway construction unit, which carry out the major way that catenary's parameters measurement uses, to be had:
(1) by the manual measurement mode of dimensional measurement tool.It is surveyed using tools such as insulation measuring staff, line pendant, meter rulers
Amount, external environment (such as wind speed) influence greatly, and measurement accuracy is low, need more people's cooperations, low efficiency.
(2) measurement aimed at based on laser ranging technique combining camera.Chinese patent literature ZL200510045433X is disclosed
A kind of " a kind of electrification railway contact net measuring aiming method based on camera " carries out target aiming using camera, makes
The contact net measuring device measured with laser, when implementation, need camera optical axis strictly coaxial with laser axis, and installation accuracy is wanted
Ask high, when aiming needs strictly to be directed at measurement target with crossline of sight silk, high operation requirements.
(3) Binocular vision photogrammetry based on two fixed installation cameras.Chinese patent literature CN107560551A is disclosed
The light source for being used to form light curtain target and two are arranged in a kind of " contact net geometric parameter detection method and system " on trolley
Fixed camera, using contact line picture in two camera shooting light curtain targets, the picture of the contact line based on acquisition utilizes triangle
Function calculating contact line leads high and stagger.The patent has used two fixed cameras and has needed that light source is arranged, and can not keep away
Exempt from backlight influence caused by camera imaging, image processing algorithm difficulty is big.
Since the high and stagger of leading of contact net plays a crucial role the traveling of train, and existing measurement skill
There are many deficiencies in art, therefore need the measurement method that a kind of measurement accuracy is high, high-efficient and replace the prior art again.
Summary of the invention
The present invention leads deficiency existing for high and stagger parameter measurement techniques for existing electrification railway contact net, provides
A kind of detection accuracy is high, structure is simply led high and pulls out value measurement mechanism based on the contact net being imaged twice, while providing should
The detection method of device.
Of the invention leads height and pull-out value measurement mechanism based on the contact net being imaged twice, and technical solution is as follows:
The device, including measurement vehicle platform, distance measuring sensor, camera pose adjust platform, monocular vision camera, controller
And man-machine interface, camera pose adjust stage+module on measurement vehicle platform, monocular vision camera is installed on the adjustment of camera pose
On platform, displacement sensor and angular transducer are provided on camera pose adjustment platform, camera pose adjusts platform, monocular view
Feel that camera, distance measuring sensor, displacement sensor and angular transducer are connect with controller, it is flat that man-machine interface is mounted on measurement vehicle
It is connect on platform and with controller；
The measurement vehicle platform is the three-wheel platform carried out on the railroad track, platform upper surface and left and right track
Upper surface is parallel, there are two bottom settings revolver and a right wheel, and setting pushes right wheel axial movement in the installation axle of right wheel
Spring；Distribution, runs in left track before and after two revolvers；Right wheel is run in right track, is moved axially, is made by spring thrust
The inner face of revolver and right wheel and left and right track is in close contact.
The distance measuring sensor is installed on measurement vehicle platform lower, for measuring distance measuring sensor end face to right rail
The distance of inner face.
The measurement vehicle platform upper surface is provided with the guide rail moved left and right for camera pose adjustment platform, and the guide rail is flat
Row is in the upper surface of railway or so track.
Camera pose adjustment platform is the two-freedom platform being made of translation rod piece and rotation rod piece, one
Freedom degree is relative measurement vehicle platform or so translation, and left and right translation displacements size is by the displacement sensor, in addition one
A freedom degree is rotary freedom, and shaft setting is in translation rod piece and rotation rod piece junction and is parallel to measurement vehicle platform, is turned
Dynamic angle is measured by the angular transducer.
The monocular vision camera is the fixed-focus camera of a high pixel resolution, is installed in camera pose adjustment platform
It rotates on rod piece, shaft of the optical axis direction perpendicular to rotation rod piece.
Controller acquisition monocular vision camera, distance measuring sensor and camera pose adjustment platform displacement sensor and
High and stagger is led in the information of angular transducer, the adjustment platform translation of control camera pose and rotation, calculating；
The man-machine interface is the high-resolution liquid crystal screen for having touch function, shows monocular phase under control of the controller
The stagger of the image of machine and measurement and height is led, receives the measuring target point confirmation and the movement of camera pose platform of operator
Control instruction.
Above-mentioned apparatus leads high and stagger detection method to contact net, comprising the following steps:
(1) monocular vision camera parameter is demarcated, calculates the actual physical size m that every pixel represents；
(2) to measure the center line of vehicle platform upper rail top surface and the intersection point of left rail inner surface as coordinate origin, with
11 right direction of closed slide is X-direction, upwards for Z-direction, to establish XOZ coordinate perpendicular to measurement vehicle platform upper rail
System；
(3) using camera optical axis in camera image plane imaging position as the origin O of image coordinate systemp, flat with camera image
Face and XOZ plane intersecting lens are XpAxis direction, to cross OpPoint and vertical optical axis and XpOpDirection be YpDirection, it is flat in camera image
Image coordinate system X is established in facepOpYp；
(4) using at the optical center of camera as origin O1Point is outside Z along 1 optical axis direction of camera1Axis crosses O in XOZ plane1Point
Perpendicular to O1Z1For X1Axis establishes camera coordinates system X1O1Z1；
(5) it is pushed below measurement vehicle platform to contact net object to be measured point along track；
(6) distance on the inside of the distance measuring sensor end face to right rail that controller is measured according to distance measuring sensor, calculates
Gauge Lg=L2+L3, L2It is distance measuring sensor end face to left rail inner face distance, L3For distance measuring sensor end face to right side rail
Road inner face distance；
(7) controller is according to gauge LgDetermine the datum mark O of stagger3, O3On the OX axis in XOZ coordinate system, O3
Coordinate is (Lg/ 2,0), O3The distance of point to track upper surface is H3；
(8) adjust platform translation and rotation by human-computer interface control camera pose makes to contact in the pose for avoiding backlight
Net object to be measured point A imaging point A'1Image in image coordinate system XpOpYpXpOn axis；
(9) the imaging point A' of the object to be measured point A shown in human-computer interaction interface is clicked using felt pen1, controller reading
Take A'1Point abscissa x in image coordinate systemp1, calculate A'1To image coordinate system origin OpDistance OPA'1=xp1* m is read
Camera pose adjusts the shift value L of displacement sensor in platform11With the numerical value θ of angular transducer1；
(10) again by the adjustment platform movement of human-computer interface control camera pose, change camera pose and adjust platform translation
Distance and rotational angle, in the pose for avoiding backlight, second of imaging point A' of contact net object to be measured point A2Image in image seat
Mark the X of systempOn axis；
(11) second of imaging point A' of the object to be measured point A shown in human-computer interaction interface is clicked using felt pen2, control
Device processed reads A'2X of the point in image coordinate systempDirection coordinate xp2, calculate A'2To image coordinate system origin OpDistance OPA'2
=xp2* m reads the shift value L of displacement sensor12With the numerical value θ of angular transducer2；
(12) assume that coordinate of the target point A in XOZ coordinate system is (x, z), in camera coordinates system X when being imaged twice1O1Z1
In coordinate be expressed as (x11,z11)、(x12,z12), camera focus f, camera pose adjust the length that rod piece is rotated on platform
H2With the length H of translation rod piece1For constant, the translation distance that phase seat in the plane appearance adjustment platform is imaged twice is L11And L12, twice
The rotation angle that phase seat in the plane appearance adjustment platform is imaged is θ1And θ2, as arriving image coordinate system origin when target point is imaged twice
Distance is the O askedPA'1And OpA'2, have according to camera imaging formula:
Had according to Rotating Transition of Coordinate formula:
Aforementioned four formula, which is constituted, solves x, z, x according to equation group by the equation group of six equations11,z11,x12,z12
Six unknown numbers；Obtain coordinate (x, z) of the object to be measured point A in XOZ coordinate system；
(13) target point in the datum mark according to obtained in step (7) and step (12) is in XOZ coordinate system
Coordinate (x, z), calculating lead high and stagger, obtain stagger M=x-Lg/2；Lead high H=z+H3, H3It is track upper surface to leading
The distance of rail top surface；
(14) stagger is completed in man-machine interface and leads high display.
The present invention uses a camera, and position and angle when by adjusting camera imaging, avoiding backlight occasion can not
Imaging or image quality it is bad lead to not measurement or measurement accuracy reduce the problem of；Controller is not related to complicated image
Match, feature identification scheduling algorithm, realizes simple, high reliablity.
Detailed description of the invention
Fig. 1 is that structural schematic diagram that is high and pulling out value measurement mechanism is led the present invention is based on the contact net being imaged twice.
Fig. 2 is the structural block diagram of apparatus of the present invention.
Fig. 3 is the operation schematic diagram of apparatus of the present invention.
Fig. 4 is the imaging schematic diagram of apparatus of the present invention work.
Fig. 5 is camera imaging schematic diagram.
In figure: 1. monocular vision cameras, 2. translation rod pieces, 3. measurement vehicle platforms, 4. distance measuring sensors, 5. contact nets, 6.
Revolver, 7. right wheels, 8. displacement sensors, 9. rotation axis, 10. rotation rod pieces, 11. guide rails, 12. right rails, 13. left side rails
Road, 14. contact line images.
Specific embodiment
Of the invention leads high and pull-out value measurement mechanism based on the contact net being imaged twice, as depicted in figs. 1 and 2, including
Measure vehicle platform 3, distance measuring sensor 4, camera pose adjustment platform, monocular vision camera 1, controller and man-machine interface.
Measuring vehicle platform 3 is the three-wheel platform carried out in railway left rail 13 and right rail 12, has hand
Push rod.Measurement 3 upper surface of vehicle platform is provided with the guide rail 11 moved left and right for camera pose adjustment platform translation rod piece 2, leads
Rail 11 is parallel to railway or so track (left rail 13 and right rail 12) upper surface.There are two left for the bottom setting of platform 3
Wheel 6 and a right wheel 7.Setting pushes the spring of right wheel axial movement in the installation axle of right wheel 7.It is distributed before and after two revolvers 6,
It is run in left rail 13, two revolvers are fixed relative to measurement 3 axial position of vehicle platform, and can only rotate cannot generate axial shifting
It is dynamic.Right wheel 7 is run in right rail 12, has not only been able to rotate but also can have been moved axially to the right by spring effect, has made left and right wheels and two sides
Track inner face is in close contact.
Distance measuring sensor 4 preferably uses laser range sensor, is installed on measurement 3 lower part of vehicle platform, surveys for measuring
Distance away from 4 end face of sensor to 12 inner face of right rail.
Camera pose adjusts stage+module on the guide rail 11 of measurement vehicle platform 3, is provided with displacement sensor 8 and angle
Spend sensor.Displacement sensor 8 preferably uses grating scale to adjust platform displacement sensor as pose, and angular transducer is preferred
Use photoelectric encoder.Camera pose adjustment platform is the two-freedom being made of translation rod piece 2 and rotation rod piece 10
Platform, one degree of freedom are that the 11 relative measurement vehicle platform 3 or so of translating rails fixed above along measurement vehicle platform 3 is translatable,
Left and right translation displacements size is measured by displacement sensor 8, another freedom degree is rotary freedom, and shaft 9 is in translation bar
Part 2 and rotation 10 junction of rod piece and it is parallel to left and right track upper surface, the angular transducer is arranged in shaft 9, rotation
Angle is measured by angular transducer.Camera pose adjusts the translation of platform and rotation is preferably carried out using servo motor
Driving.
Monocular vision camera 1 is the fixed-focus camera of a high pixel resolution, is preferably not less than 5,000,000 pixels, installation
In the end for rotating rod piece 10 on camera pose adjustment platform, shaft 9 of the camera optical axis direction perpendicular to rotation rod piece 10.Monocular
The image-forming principle of vision camera 1 is as shown in Figure 5.
Monocular vision camera 1, distance measuring sensor 4 and driving motor, displacement sensor 8 in camera pose adjustment platform
It is connect with controller with angular transducer.
Controller preferably uses high performance 32 arm processors, acquisition monocular vision camera 1, distance measuring sensor 4 with
And camera pose adjustment platform in displacement sensor 8 and angular transducer information, control camera pose adjustment platform translation and
High and stagger is led in rotation, calculating.
Man-machine interface is the high-resolution liquid crystal screen for having touch function, shows monocular camera 1 under control of the controller
Image and the stagger of measurement and height is led, and receives the measuring target point confirmation and the movement control of camera pose platform of operator
System instruction.
Referring to Fig. 5, above-mentioned apparatus need to do following work in design:
(1) 1 inner parameter of monocular vision camera is demarcated, calculates the actual physical size m (milli that every pixel represents
Rice)；
(2) to measure the center line of 11 top surface of guide rail on vehicle platform 3 and the intersection point of 13 inner surface of left rail as coordinate
Origin, using 11 right direction of closed slide as X-direction, upwards for Z-direction, to establish XOZ coordinate system perpendicular to guide rail 11；
(3) using 1 optical axis of camera in camera image plane imaging position as the origin O of image coordinate systemp, with 1 image of camera
Plane and XOZ plane intersecting lens (OpOn this intersecting lens) it is XpAxis direction, to cross OpPoint and vertical optical axis and XpOpDirection be
YpImage coordinate system X is established in camera image plane in directionpOpYp；
(4) using at the optical center of camera 1 as origin O1Point is outside Z along 1 optical axis direction of camera1Axis crosses O in XOZ plane1Point
Perpendicular to O1Z1For X1Axis establishes camera coordinates system X1O1Z1；
Referring to Fig. 3 and Fig. 4, following steps are needed to be implemented in measurement process:
(5) it is pushed below measurement vehicle platform 3 to contact net object to be measured point along left rail 13 and right rail 12；
(6) distance on the inside of 4 end face to right rail of distance measuring sensor that controller is measured according to distance measuring sensor 4, meter
Calculate gauge Lg, Lg=L2+L3, L2It is 4 end face of distance measuring sensor to 13 inner face of left rail distance (for constant), L3For ranging biography
4 end face of sensor is to right rail inner face distance；
(7) controller is according to gauge LgDetermine the datum mark O of stagger3, O3On OX axis, left and right siding track is arrived
Internal rail identity distance is L from identicalg/ 2, i.e., in XOZ coordinate system, O3Coordinate is (Lg/ 2,0), O3Point arrives the distance of track upper surface
For constant H3；
(8) operator adjusts platform translation rod piece 2 by human-computer interface control camera pose and rotation rod piece 10 moves,
In the pose for avoiding backlight, make contact net object to be measured point A imaging point A'1Image in the X of image coordinate systempOn axis；
(9) operator clicks the imaging point A' of the object to be measured point A shown in human-computer interaction interface using felt pen1
(contact line image 14 and image coordinate system XpThe midpoint of the intersection line segment of axis, as shown in Figure 4), controller reads A'1Point is in image
Abscissa x in coordinate systemp1, calculate A'1To image coordinate system origin OpDistance OPA'1=xp1* it is flat to read the adjustment of camera pose by m
The shift value L of platform displacement sensor11Platform angle sensor values θ is adjusted with camera pose1, referring to Fig. 5；
(10) operator is again by human-computer interface control camera pose adjustment platform translation rod piece 2 and rotation rod piece 10
Movement, in the pose for avoiding backlight, makes second of imaging point A' of contact net object to be measured point A2Image in the X of image coordinate systempAxis
On；
(11) similar with step (9), operator clicks the object to be measured shown in human-computer interaction interface using felt pen
Second of imaging point A' of point A2(contact line image 14 and image coordinate system XpThe midpoint of the intersection line segment of axis), controller is read
A'2X of the point in image coordinate systempDirection coordinate xp2, calculate A'2To image coordinate system origin OpDistance OPA'2=xp2* m,
Read the shift value L of displacement sensor 812With the numerical value θ of angular transducer2；
(12) assume that coordinate of the target point A in XOZ coordinate system is (x, z), in camera coordinates system X when being imaged twice1O1Z1
In coordinate be expressed as (x11,z11)、(x12,z12), camera focus f, the length H for rotating rod piece 102, translation rod piece 2 length
Spend H1For constant, the translation distance L of phase seat in the plane appearance adjustment platform is imaged twice11And L12, camera pose adjustment platform rotation
Angle, θ1And θ2It can survey, distance A' of the picture to image coordinate system origin when target point is imaged twice1OpAnd A'2OpIt has been asked that, according to phase
Machine imaging formula has:
Had according to Rotating Transition of Coordinate formula:
Aforementioned four formula, which is constituted, can solve x, z, x according to equation group by the equation group of six equations11,z11,
x12,z12Six unknown numbers.
(13) using datum mark obtained in step (7), according to geometrical relationship, stagger M=x-Lg/2；
Lead high H=z+H3, H3For the distance (constant) of track upper surface to guide rail top surface
(14) stagger is completed in man-machine interface and leads high display.
Claims (8)
1. a kind of lead high and pull out value measurement mechanism based on the contact net being imaged twice, it is characterized in that: including measurement vehicle platform, surveying
Stage+module is adjusted away from sensor, camera pose adjustment platform, monocular vision camera, controller and man-machine interface, camera pose
On measurement vehicle platform, monocular vision camera is installed on camera pose adjustment platform, is provided on camera pose adjustment platform
Displacement sensor and angular transducer, camera pose adjust platform, monocular vision camera, distance measuring sensor, displacement sensor and
Angular transducer is connect with controller, and man-machine interface is mounted on measurement vehicle platform and connect with controller；
The measurement vehicle platform is the three-wheel platform carried out on the railroad track, platform upper surface and left and right track upper end
Face is parallel, there are two bottom settings revolver and a right wheel, and setting pushes the spring of right wheel axial movement in the installation axle of right wheel；
Distribution, runs in left track before and after two revolvers；Right wheel is run in right track, is moved axially by spring thrust, is made revolver
It is in close contact with the inner face of right wheel and left and right track.
2. leading high based on the contact net being imaged twice according to claim 1 and pulling out value measurement mechanism, it is characterized in that: described
Distance measuring sensor is installed on measurement vehicle platform lower, the distance for measuring distance measuring sensor end face to right rail inner face.
3. leading high based on the contact net being imaged twice according to claim 1 and pulling out value measurement mechanism, it is characterized in that: described
Measurement vehicle platform upper surface is provided with the guide rail moved left and right for camera pose adjustment platform, which is parallel to railway or so
The upper surface of track.
4. leading high based on the contact net being imaged twice according to claim 1 and pulling out value measurement mechanism, it is characterized in that: described
Camera pose adjustment platform is the two-freedom platform being made of translation rod piece and rotation rod piece, and one degree of freedom is opposite
Vehicle platform or so translation is measured, for left and right translation displacements size by the displacement sensor, another freedom degree is rotation
Turn freedom degree, shaft setting is in translation rod piece and rotation rod piece junction and is parallel to measurement vehicle platform, and rotational angle passes through institute
State angular transducer measurement.
5. leading high based on the contact net being imaged twice according to claim 1 and pulling out value measurement mechanism, it is characterized in that: described
Monocular vision camera is a fixed-focus camera, is installed in camera pose adjustment platform on rotating bar part, optical axis direction perpendicular to
Rotate the shaft of rod piece.
6. leading high based on the contact net being imaged twice according to claim 1 and pulling out value measurement mechanism, it is characterized in that: described
Controller acquires monocular vision camera, distance measuring sensor and camera pose adjustment platform displacement sensor and angular transducer
High and stagger is led in information, the adjustment platform translation of control camera pose and rotation, calculating.
7. leading high based on the contact net being imaged twice according to claim 1 and pulling out value measurement mechanism, it is characterized in that: described
Man-machine interface is touch LCD screen, shows the image of monocular camera and the stagger of measurement under control of the controller and leads height, connects
By the measuring target point confirmation of operator and the motion control instruction of camera pose platform.
8. measurement method that is high and pulling out value measurement mechanism is led based on the contact net being imaged twice described in a kind of claim 1,
It is characterized in: the following steps are included:
(1) monocular vision camera parameter is demarcated, calculates the actual physical size m that every pixel represents；
(2) to measure the center line of vehicle platform upper rail top surface and the intersection point of left rail inner surface as coordinate origin, with parallel
Guide rail right direction is X-direction, upwards for Z-direction, to establish XOZ coordinate system perpendicular to measurement vehicle platform upper rail；
(3) using camera optical axis in camera image plane imaging position as the origin O of image coordinate systemp, with camera image plane with
XOZ plane intersecting lens is XpAxis direction, to cross OpPoint and vertical optical axis and XpOpDirection be YpDirection is built in camera image plane
Vertical image coordinate system XpOpYp；
(4) using at the optical center of camera as origin O1Point is Z along camera optical axis outward1Axis crosses O in XOZ plane1Point perpendicular to
O1Z1For X1Axis establishes camera coordinates system X1O1Z1；
(5) it is pushed below measurement vehicle platform to contact net object to be measured point along track；
(6) distance on the inside of the distance measuring sensor end face to right rail that controller is measured according to distance measuring sensor, calculates gauge Lg
=L2+L3, L2It is distance measuring sensor end face to left rail inner face distance, L3For in distance measuring sensor end face to right rail
End face distance；
(7) controller is according to gauge LgDetermine the datum mark O of stagger3, O3On the OX axis in XOZ coordinate system, O3Coordinate
For (Lg/ 2,0), O3The distance of point to track upper surface is H3；
(8) adjusting platform translation and rotation by human-computer interface control camera pose waits for contact net in the pose for avoiding backlight
Survey target point A imaging point A'1Image in image coordinate system XpOpYpXpOn axis；
(9) the imaging point A' of the object to be measured point A shown in human-computer interaction interface is clicked using felt pen1, controller reading A'1
Point abscissa x in image coordinate systemp1, calculate A'1To image coordinate system origin OpDistance OPA'1=xp1* m reads phase seat in the plane
Appearance adjusts the shift value L of displacement sensor in platform11With the numerical value θ of angular transducer1；
(10) again by the adjustment platform movement of human-computer interface control camera pose, change camera pose and adjust platform translation distance
And rotational angle, in the pose for avoiding backlight, second of imaging point A' of contact net object to be measured point A2Image in image coordinate system
XpOn axis；
(11) second of imaging point A' of the object to be measured point A shown in human-computer interaction interface is clicked using felt pen2, controller
Read A'2X of the point in image coordinate systempDirection coordinate xp2, calculate A'2To image coordinate system origin OpDistance OPA'2=
xp2* m reads the shift value L of displacement sensor12With the numerical value θ of angular transducer2；
(12) assume that coordinate of the target point A in XOZ coordinate system is (x, z), in camera coordinates system X when being imaged twice1O1Z1In
Coordinate is expressed as (x11,z11)、(x12,z12), camera focus f, camera pose adjust the length H that rod piece is rotated on platform2With
Translate the length H of rod piece1For constant, the translation distance that phase seat in the plane appearance adjustment platform is imaged twice is L11And L12, it is imaged twice
The rotation angle that phase seat in the plane appearance adjusts platform is θ1And θ2, distance of the picture to image coordinate system origin when target point is imaged twice
For the O askedPA'1And OpA'2, have according to camera imaging formula:
Had according to Rotating Transition of Coordinate formula:
Aforementioned four formula, which is constituted, solves x, z, x according to equation group by the equation group of six equations11,z11,x12,z12Six
Unknown number；Obtain coordinate (x, z) of the object to be measured point A in XOZ coordinate system；
(13) coordinate of the target point in the datum mark according to obtained in step (7) and step (12) in XOZ coordinate system
(x, z), calculating lead high and stagger, obtain stagger M=x-Lg/2；Lead high H=z+H3, H3For track upper surface to guide rail top
The distance in face；
(14) stagger is completed in man-machine interface and leads high display.
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| CN201910503860.XA CN110231008B (en) | 2019-06-10 | 2019-06-10 | Contact net height guiding and pulling-out value measuring device and method based on twice imaging |
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| CN201910503860.XA CN110231008B (en) | 2019-06-10 | 2019-06-10 | Contact net height guiding and pulling-out value measuring device and method based on twice imaging |
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| CN110231008B CN110231008B (en) | 2023-12-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN116358422B (en) * | 2023-05-31 | 2023-08-25 | 河北工业大学 | Method and device for measuring guide height and pull-out value of railway contact net |
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