CN110490918A - Existing railway track switch frog extracting method based on three-dimensional laser scanning technique - Google Patents
Existing railway track switch frog extracting method based on three-dimensional laser scanning technique Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
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- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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Abstract
The present invention discloses the existing railway track switch frog extracting method based on three-dimensional laser scanning technique, step: carrying out survey station splicing, elimination of rough difference to initial data；Data resampling；Original point cloud data is filtered based on height above rail surface；Hough transform is carried out to filtered point cloud data, detects straight line；Point cloud data for belonging to straight line is fitted using least square method, calculates straight slope k1With intercept b1；Again screening is under the jurisdiction of the point set of same straight line；And second of least square fitting is carried out, accurately calculate the slope k of straight line2With intercept b2, it is final to can extract 4 straight lines, belong to 2 straight line parallels with 1 group of rail, totally 2 groups of parallel lines；The intersection point of 2 not parallel straight lines is calculated separately, the coordinate average value of 4 intersection points is frog coordinate.The present invention can reach the precision for improving existing railway turnout survey, while avoid the beneficial effect of the huge security risk of the online operation of survey crew.
Description
Technical field
The invention belongs to railway arts, in particular to the existing railway track switch frog based on three-dimensional laser scanning technique
Extracting method.
Background technique
Currently, the measurement of railway switch frog still uses manual measurement mode, is measured by scene, calibrates frog position,
Then its coordinate is measured with total station or GPS-RTK.
In railway construction in China, using it is most common be exactly common single turnout, also known as simple turnout, structure such as Fig. 1
It is shown.When determining frog, it is first determined track switch model, and then can determine the long a in the front end of the model, before finding track switch on the spot
Stock rail rail gap is held, a value is measured along line midline by the center of two rail gap lines, the position of center of turnout can be made.
As can be seen that existing track switch frog measurement method is affected by manual work error from above-mentioned measurement process,
Frog measurement accuracy is difficult to ensure.Simultaneously because there is train running on existing railway, operation is measured on existing railway, and there are poles
Big security risk.
Summary of the invention
The present invention current conventional track switch frog measurement method there are aiming at the problem that, provide based on three-dimensional laser scanning technique
Existing railway track switch frog extracting method, can reach the precision for improving existing railway turnout survey, while avoiding survey crew
The beneficial effect of the huge security risk of online operation.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: based on the existing of three-dimensional laser scanning technique
Railway switch frog extracting method, comprising the following steps:
(1) data prediction carries out survey station splicing, elimination of rough difference to initial data；
(2) data resampling makes original point cloud data even density；
(3) original point cloud data is filtered based on height above rail surface, retains valid data, reduce point cloud quantity；
(4) Hough transform is carried out to filtered point cloud data, detects straight line；
(5) it is fitted for belonging to the point cloud data of straight line using least square method, calculates straight slope k1
With intercept b1；
(6) distance of straight line is arrived according to point, screening is under the jurisdiction of the point set of same straight line again；
(7) second of least square fitting is carried out to the point set filtered out again, accurately calculates the slope k of straight line2With cut
Away from b2, it is final to can extract 4 straight lines, belong to 2 straight line parallels with 1 group of rail, totally 2 groups of parallel lines；
(8) intersection point of 2 not parallel straight lines is calculated separately, amounts to and calculates 4 intersection points, the coordinate average value of 4 intersection points
As frog coordinate.
Preferably, splicing between standing in step (1): since the scanning range at one station of scanner is limited, can not disposably by
Entire survey region is included into, and needs to carry out survey region substation scanning, so, the initial data after scanning is needed
There is the process of a splicing integration, so that the point cloud data for obtaining scanning brings unified coordinate system into；
Elimination of rough difference: for the rough error point cloud for the obvious and easy deletion that naked eyes can identify, Yao Xianjin pedestrian's work
It rejects, in order to avoid interfering to subsequent data sampling and relevant treatment, while data volume can also be reduced, improve subsequent operation
Time and space efficiency, facilitate processing；
After carrying out above-mentioned processing to original point cloud number according to data processing software using three-dimensional laser scanner is included, so that it may
To export data, geodetic coordinates X, the format of Y, Z and the initial data as follow-up data processing work are saved as.
Preferably, in step (2), since the density of 3 D laser scanning point cloud is because of object to the distance between scanner
Short and different, therefore when obtained point cloud data and uneven, especially scanning earth's surface, the density degree of data is even more phase not to the utmost
Together, so the advanced row data resampling before data processing, so that point cloud data is evenly distributed.Data resampling passes through
Three-dimensional laser scanner is included to be completed according to data processing software.
Preferably, in step (3), the characteristics of sleeper and railway ballast are higher than according to rail of railway, carried out using height above rail surface
Filtering only retains rail level data, can be significantly reduced point cloud data amount；First search for point cloud data in each point Z coordinate most
Big value Zmax, ZmaxFiltering threshold h is arranged in as height above rail surface, is less than Z for elevation in point cloud datamax- h is rejected, high
Journey is greater than or equal to ZmaxThe point of-h is remained as rail level data.
Preferably, the value of h is preferably between 5~15cm.
Preferably, detecting straight line in step (4) using Hough transform algorithm for filtered point cloud data, belonging to
Point with 1 straight line is stored into corresponding array.Hough transform is a kind of transformation between image space and parameter space.
Its basic thought is the cumulative system be converted to border detection problem in image space using dotted line Dual properties in parameter space
Meter problem；
When detecting straight line using Hough transform, linear equation is expressed as ρ=xcos θ+ysin θ；
By θ discretization, takes all over all values, calculate corresponding ρ value according to straight line expression formula, it is tired to cumulative array A (ρ, θ)
Add, the number of collinear points is obtained by the value of A (ρ, θ)；
The maximum parameter of A (ρ, θ) intermediate value is to detect the parameter of straight line.Effect such as Fig. 5 of Hough transform detection straight line
Shown, trouble two strands of tracks of tail can detect 4 rail straight lines altogether.
Preferably, being fitted, being calculated to the point for belonging to same straight line using least square method in step (5)
The slope k of straight line1With intercept b1If linear equation is y=kx+b, the quantity of collinear points is n, then quasi- according to the principle of least square
The slope and intercept for closing straight line can be calculated according to following formula:
Preferably, the conllinear point set for belonging to 1 straight line is screened again according to the distance of point to straight line in step (6),
For the parameter (k, b) of every 1 straight line, all the points are traversed, the distance d that point arrives straight line is calculated, distance threshold d is set0, as d < d0
When, it is believed that the point belongs to the point on this straight line, as rectilinear point storage to corresponding straight line array；Point (x0,y0) arrive straight line (y
=kx+b) distance d calculated according to following formula:
Preferably, carrying out second in step (7) to the conllinear point set filtered out again using least square method and intending
It closes, calculates the slope k of straight line2With intercept b2, it can extract 4 straight lines, belong to 2 straight line parallels with 1 strand of track, totally 2 groups
Parallel lines.
Preferably, in step (8), according to the following formula, by the straight line parameter fitted calculate intersection point JD1, JD2,
The coordinate of 4 intersection points is averaged by the coordinate of JD3, JD4, and the coordinate of frog can be obtained；
Compared with prior art, the present invention has the beneficial effects that
(1) three-dimensional laser scanning technique is introduced into the measurement of existing railway track switch frog, is can be achieved in measurement process non-
Contact measurement is not necessarily to the operation on existing railway, avoids the security risk during manual measurement；
(2) it is higher than the characteristic of sleeper and railway ballast according to existing railway rail, point cloud data is carried out based on rail of railway elevation
Filtering can be significantly reduced point cloud data amount under the premise of remaining necessary data, improve operation efficiency；
(3) precision of the straight line fitting in detection point cloud data is improved.
Detailed description of the invention
Fig. 1 is current switch structure schematic diagram；
Fig. 2 is that the track switch frog in the present invention extracts schematic illustration；
Fig. 3 is the point cloud data before the height above rail surface filtering in the present invention；
Fig. 4 is the filtered point cloud data in height above rail surface in the present invention；
Fig. 5 is the straight line that the Hough transform in the present invention detects.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, in the following with reference to the drawings and specific embodiments
It elaborates to the present invention.
Explanation of Basic Phrase:
Track switch: rolling stock is in the process of running, it is often necessary to which, as soon as being transferred to another route by a route, this needs to set
It sets the connection of route and intersects equipment, i.e. track switch.On ichnography drawing of stations, the position of track switch is indicated by the position of center of turnout
's.
Frog: also known as center of turnout refers to the intersection point of main line and survey line center line, it is wanted on the spot and unmarked
The position of measurement track switch should mark the position of center of turnout on the spot first.
Three-dimensional laser scanner: three-dimensional laser scanner is mainly made of probe, controller and computer three parts.Its
In, probe includes laser emitter, receiver, horizontal mirror and vertical reflector；Controller include distance-measurement module,
Scan control module and computer bus；Computer mainly includes microprocessor and memory.The work of three-dimensional laser scanner
It is as follows to make principle: laser emitter first to scanning objective emission laser beam, system by calculate laser round-trip time difference or
The available measurement distance S of phase difference, in addition scan control module will record laser beam in the rotation angle, θ and water of vertical direction
Square to rotation angle [alpha], and calculate accordingly on testee put cloud three-dimensional coordinate (X, Y, Z).
Point cloud data: by the point data set for the testee appearance surfaces that measuring instrument obtains, the three-dimensional comprising point
Coordinate (X, Y, Z).
Hough transform: Hough transform is a kind of transformation between image space and parameter space.Its basic thought is benefit
Border detection problem in image space is converted to the cumulative statistical problem in parameter space with dotted line Dual properties.
Least square method: also known as least squares method, is a kind of mathematical optimization techniques, it passes through the quadratic sum for minimizing error
Find the optimal function matching of data.
In the present invention, the part of two bursts of tracks access track switches of railway switch trouble tail main line and side line is straight line, two strands of tracks
The intersection point of center line is frog.As shown in Fig. 2, the center line of trouble two strands of tracks of tail is dotted line, center line intersection point is frog O,
It is straight line that per share track, which has 2 rails, and such as L1, L2, L3, L4 in figure, 4 linear extensions, which are intersected, can be obtained 4 intersection points
JD1, JD2, JD3, JD4,4 intersection points constitute a diamond shape, and diamond shape center is frog.Therefore accurate from original point cloud data
Extract straight line L1, L2, L3, L4, so that it may calculate frog coordinate.
In order to guarantee the accuracy of lines detection, the part for selecting trouble two main line of tail and side line not yet to intersect is mentioned as straight line
The initial data taken.
Embodiment of the invention discloses the existing railway track switch frog extracting method based on three-dimensional laser scanning technique,
The following steps are included:
(1) data prediction carries out survey station splicing, elimination of rough difference to initial data；
(2) data resampling makes original point cloud data even density；
(3) original point cloud data is filtered based on height above rail surface, retains valid data, reduce point cloud quantity；
(4) Hough transform is carried out to filtered point cloud data, detects straight line；
(5) it is fitted for belonging to the point cloud data of straight line using least square method, calculates straight slope k1
With intercept b1；
(6) distance of straight line is arrived according to point, screening is under the jurisdiction of the point set of same straight line again；
(7) second of least square fitting is carried out to the point set filtered out again, accurately calculates the slope k of straight line2With cut
Away from b2, it is final to can extract 4 straight lines, belong to 2 straight line parallels with 1 group of rail, totally 2 groups of parallel lines；
(8) intersection point of 2 not parallel straight lines is calculated separately, amounts to and calculates 4 intersection points, the coordinate average value of 4 intersection points
As frog coordinate.
In the present embodiment, in step (1), splice between standing:, can not be disposable since the scanning range at one station of scanner is limited
Entire survey region is included into, and needs to carry out survey region substation scanning, so, for the initial data after scanning
The process of a splicing integration is needed, so that the point cloud data for obtaining scanning brings unified coordinate system into；
Elimination of rough difference: for the rough error point cloud for the obvious and easy deletion that naked eyes can identify, Yao Xianjin pedestrian's work
It rejects, in order to avoid interfering to subsequent data sampling and relevant treatment, while data volume can also be reduced, improve subsequent operation
Time and space efficiency, facilitate processing；
After carrying out above-mentioned processing to original point cloud number according to data processing software using three-dimensional laser scanner is included, so that it may
To export data, geodetic coordinates X, the format of Y, Z and the initial data as follow-up data processing work are saved as.
In the present embodiment, in step (2), since the density of 3 D laser scanning point cloud is because of object to the distance between scanner
Length and it is different, therefore when obtained point cloud data and uneven, especially scanning earth's surface, the density degree of data is even more phase not to the utmost
Together, so the advanced row data resampling before data processing, so that point cloud data is evenly distributed.Data resampling passes through
Three-dimensional laser scanner is included to be completed according to data processing software.
In the present embodiment, in step (3), according to rail of railway be higher than sleeper and railway ballast the characteristics of, using height above rail surface into
Row filtering, only retains rail level data, can be significantly reduced point cloud data amount；Each point Z coordinate in point cloud data is searched for first
Maximum value Zmax, ZmaxFiltering threshold h is arranged in as height above rail surface, is less than Z for elevation in point cloud datamax- h is rejected,
Elevation is greater than or equal to ZmaxThe point of-h is remained as rail level data.
In the present embodiment, the value of h is preferably between 5~15cm.
In the present embodiment, in step (4), straight line is detected using Hough transform algorithm for filtered point cloud data, is belonged to
It stores in the point with 1 straight line into corresponding array.Hough transform is a kind of change between image space and parameter space
It changes.Its basic thought is that border detection problem in image space is converted to adding up in parameter space using dotted line Dual properties
Statistical problem；
When detecting straight line using Hough transform, linear equation is expressed as ρ=xcos θ+ysin θ；
By θ discretization, takes all over all values, calculate corresponding ρ value according to straight line expression formula, it is tired to cumulative array A (ρ, θ)
Add, the number of collinear points is obtained by the value of A (ρ, θ)；
The maximum parameter of A (ρ, θ) intermediate value is to detect the parameter of straight line.Effect such as Fig. 5 of Hough transform detection straight line
Shown, trouble two strands of tracks of tail can detect 4 rail straight lines altogether.
In the present embodiment, in step (5), the point for belonging to same straight line is fitted using least square method, is calculated
The slope k of straight line out1With intercept b1If linear equation is y=kx+b, the quantity of collinear points is n, then according to the principle of least square
The slope and intercept of fitting a straight line can be calculated according to following formula:
In the present embodiment, in step (6), the collinear points for belonging to 1 straight line are screened again according to the distance of point to straight line
Collection traverses all the points for the parameter (k, b) of every 1 straight line, calculates the distance d that point arrives straight line, distance threshold d is arranged0, work as d
<d0When, it is believed that the point belongs to the point on this straight line, as rectilinear point storage to corresponding straight line array；Point (x0,y0) to directly
The distance d of line (y=kx+b) is calculated according to following formula:
In the present embodiment, in step (7), second is carried out to the conllinear point set filtered out again using least square method and is intended
It closes, calculates the slope k of straight line2With intercept b2, it can extract 4 straight lines, belong to 2 straight line parallels with 1 strand of track, totally 2 groups
Parallel lines.
In the present embodiment, in step (8), according to the following formula, by the straight line parameter fitted calculate intersection point JD1,
The coordinate of 4 intersection points is averaged by the coordinate of JD2, JD3, JD4, and the coordinate of frog can be obtained；
Fig. 3 is the point cloud data before the filtering of height above rail surface, shares 85177 points, data volume and its huge, and is deposited in data
In the point cloud information of sleeper, railway ballast, the extraction of rail level straight line is influenced.Fig. 4 is the filtered point cloud data in height above rail surface, after filtering
Point cloud data only remains 3823 points, and the unnecessary data such as effectively eliminate sleeper, railway ballast, greatly reduces number
Amount, while ensure that the precision of subsequent rail level lines detection.
In order to verify the validity for the frog extracting method that the application proposes, the point cloud data of certain 5 groups of track switch in station is chosen
Tested, the frog coordinate of 5 groups of track switches calculated separately using the method that the application proposes, and with use traditional artificial measurement side
The frog coordinate that formula obtains is compared, and experimental result is as shown in table 1.
1 case verification result of table (unit: m)
As can be seen from Table 1, the frog coordinate of the 5 groups of existing track switches extracted using the method that the application proposes and use
The frog coordinate difference that traditional artificial measurement method obtains is smaller, and wherein the maximum track switch of difference is frog coordinate in the x direction
5th group of track switch, difference 1.8cm；The maximum track switch of difference is the 4th group of track switch, difference 2.7cm to frog coordinate in y-direction.
Since the method core concept that the application proposes is to detect rail straight line based on Hough transform, and then calculated and branched off by straight line intersection
Heart coordinate, and Hough transform is straight line to be detected based on ballot Statistics, thus receptor site cloud Effects of Density is larger, original point
The Density inhomogeneity of cloud data will cause frog coordinate extraction result, and there are certain errors.It can be with from the verification result of table 1
Find out, is sat using the frog coordinate of the calculated 5 groups of track switches of the present processes and using the frog that manual measurement mode obtains
Mark difference within 3cm, can achieve the precision that the measurement of track switch frog is carried out using manual type, to demonstrate this Shen
The method that please be proposed can be applied in existing track switch frog measurement.
It is described the invention in detail above by embodiment, but the content is only exemplary implementation of the invention
Example, should not be considered as limiting the scope of the invention.Protection scope of the present invention is defined by the claims.All utilizations
Technical solutions according to the invention or those skilled in the art are under the inspiration of technical solution of the present invention, in reality of the invention
In matter and protection scope, designs similar technical solution and reach above-mentioned technical effect, or to made by application range
All the changes and improvements etc. should still belong to patent of the invention and cover within protection scope.It should be noted that in order to clear
It is stated, part and protection scope of the present invention is omitted in explanation of the invention without being directly significantly associated with but this field skill
The statement of component known to art personnel and processing.
Claims (9)
1. the existing railway track switch frog extracting method based on three-dimensional laser scanning technique, which comprises the following steps:
(1) data prediction carries out survey station splicing, elimination of rough difference to initial data；
(2) data resampling makes original point cloud data even density；
(3) original point cloud data is filtered based on height above rail surface, retains valid data, reduce point cloud quantity；
(4) Hough transform is carried out to filtered point cloud data, detects straight line；
(5) it is fitted for belonging to the point cloud data of straight line using least square method, calculates straight slope k1And intercept
b1；
(6) distance of straight line is arrived according to point, screening is under the jurisdiction of the point set of same straight line again；
(7) second of least square fitting is carried out to the point set filtered out again, accurately calculates the slope k of straight line2With intercept b2,
Final extractable 4 straight lines out, belong to 2 straight line parallels with 1 group of rail, totally 2 groups of parallel lines；
(8) intersection point of 2 not parallel straight lines is calculated separately, amounts to and calculates 4 intersection points, the coordinate average value of 4 intersection points is
Frog coordinate.
2. the existing railway track switch frog extracting method according to claim 1 based on three-dimensional laser scanning technique, special
Sign is, in step (1), splices between standing: splicing integration to the initial data after scanning, the point cloud data that scanning obtains is included in
To in unified coordinate system；
Elimination of rough difference: it for the rough error point cloud for the obvious and easy deletion that naked eyes can identify, is manually rejected；
Data are exported, geodetic coordinates X, the format of Y, Z and the initial data as follow-up data processing work are saved as.
3. the existing railway track switch frog extracting method according to claim 1 based on three-dimensional laser scanning technique, special
Sign is, in step (3), is filtered using height above rail surface, only retains rail level data, is significantly reduced point cloud data amount；It is first
First search for the maximum value Z of each point Z coordinate in point cloud datamax, ZmaxFiltering threshold h is arranged, for a cloud number in as height above rail surface
It is less than Z according to middle elevationmax- h is rejected, and elevation is greater than or equal to ZmaxThe point of-h is remained as rail level data.
4. the existing railway track switch frog extracting method according to claim 3 based on three-dimensional laser scanning technique, special
Sign is that the value of h is preferably between 5~15cm.
5. the existing railway track switch frog extracting method according to claim 1 based on three-dimensional laser scanning technique, special
Sign is, in step (4), detects straight line using Hough transform algorithm for filtered point cloud data, belongs to 1 straight line
Point store into corresponding array；
When detecting straight line using Hough transform, linear equation is expressed as ρ=xcos θ+ysin θ；
By θ discretization, takes all over all values, calculate corresponding ρ value according to straight line expression formula, it is cumulative to cumulative array A (ρ, θ),
The number of collinear points is obtained by the value of A (ρ, θ)；
The maximum parameter of A (ρ, θ) intermediate value is to detect the parameter of straight line.
6. the existing railway track switch frog extracting method according to claim 1 based on three-dimensional laser scanning technique, special
Sign is, in step (5), is fitted using least square method to the point for belonging to same straight line, calculates the slope of straight line
k1With intercept b1If linear equation is y=kx+b, the quantity of collinear points is n, then according to the oblique of principle of least square fitting a straight line
Rate and intercept can be calculated according to following formula:
7. the existing railway track switch frog extracting method according to claim 1 based on three-dimensional laser scanning technique, special
Sign is, in step (6), the conllinear point set for belonging to 1 straight line is screened again according to the distance of point to straight line, for every 1
The parameter (k, b) of straight line traverses all the points, calculates the distance d that point arrives straight line, distance threshold d is arranged0, as d < d0When, it is believed that it should
Point belongs to the point on this straight line, as rectilinear point storage to corresponding straight line array；Point (x0,y0) arrive straight line (y=kx+b)
Distance d is calculated according to following formula:
8. the existing railway track switch frog extracting method according to claim 1 based on three-dimensional laser scanning technique, special
Sign is, in step (7), carries out second to the conllinear point set filtered out again using least square method and is fitted, calculates straight
The slope k of line2With intercept b2, can extract 4 straight lines, belong to 2 straight line parallels with 1 strand of track, totally 2 groups of parallel lines.
9. the existing railway track switch frog extracting method according to claim 1 based on three-dimensional laser scanning technique, special
Sign is, in step (8), according to the following formula, the seat of intersection point JD1, JD2, JD3, JD4 is calculated by the straight line parameter fitted
Mark, the coordinate of 4 intersection points is averaged, the coordinate of frog can be obtained；
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| CN116862976A (en) * | 2023-06-08 | 2023-10-10 | 中铁第四勘察设计院集团有限公司 | Rail center line extraction method and system based on unmanned aerial vehicle laser point cloud |
| CN117093808A (en) * | 2023-06-08 | 2023-11-21 | 中铁第四勘察设计院集团有限公司 | Track switch core extraction method and system based on integral least square method |
| CN116862976B (en) * | 2023-06-08 | 2024-04-02 | 中铁第四勘察设计院集团有限公司 | Rail center line extraction method and system based on unmanned aerial vehicle laser point cloud |
| CN117093808B (en) * | 2023-06-08 | 2024-04-19 | 中铁第四勘察设计院集团有限公司 | Track switch core extraction method and system based on integral least square method |
| CN116543037A (en) * | 2023-07-05 | 2023-08-04 | 中国铁路设计集团有限公司 | Method for extracting center of track bearing platform of CRTSIII ballastless track plate |
| CN116543037B (en) * | 2023-07-05 | 2024-03-26 | 中国铁路设计集团有限公司 | Method for extracting center of track bearing platform of CRTSIII ballastless track plate |
| CN116907350A (en) * | 2023-09-14 | 2023-10-20 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Single turnout geometry measuring method and device, electronic equipment and storage medium |
| CN116907350B (en) * | 2023-09-14 | 2023-12-15 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Single turnout geometry measuring method and device, electronic equipment and storage medium |
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