CN110827239A - Method for measuring transverse movement of train wheels - Google Patents

Method for measuring transverse movement of train wheels Download PDF

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CN110827239A
CN110827239A CN201910949515.9A CN201910949515A CN110827239A CN 110827239 A CN110827239 A CN 110827239A CN 201910949515 A CN201910949515 A CN 201910949515A CN 110827239 A CN110827239 A CN 110827239A
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track
wheel
train
structured light
camera
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杜启亮
陈嘉乐
王鹏
田联房
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South China University of Technology SCUT
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • 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
    • G01B21/04—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 by measuring coordinates of points
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Abstract

The invention discloses a method for measuring the transverse movement of train wheels, which comprises the steps of arranging a binocular camera and a structured light source on a train bogie, calibrating the binocular camera to obtain internal and external parameters, enabling a plurality of pieces of structured light to irradiate on a wheel to be measured and a track at different angles, extracting the structured light in a preprocessed left image and a preprocessed right image through probability Hough linear detection, extracting end points at two ends of a linear segment of the structured light, performing three-dimensional reconstruction on a circle where the wheel is located and the linear segment of the track, calculating the transverse movement of the circle center of the wheel between a projection point of the plane of the track and the track, and judging whether abnormity exists. The invention can realize real-time monitoring of the transverse movement of the wheel rail in the running process of the train and guarantee the running safety.

Description

Method for measuring transverse movement of train wheels
Technical Field
The invention relates to the technical field of serpentine motion measurement and analysis of railway locomotives, in particular to a method for measuring transverse movement of train wheels.
Background
With the development of economic society and the rapid increase of traffic and transportation demands, the market demand of the railway locomotive as a recognized transportation tool with the largest capacity is more tense. Because the train turns through special structures such as wheel set treads, bogies and the like, the snake-shaped movement of transverse swing cannot be avoided while the train moves forwards in the linear running process. An excessively violent snake-shaped movement can not only damage the running stability of the vehicle, but also damage wheels and steel rails and even cause great accidents due to derailment. Therefore, monitoring the snake-shaped movement of the train ensures that the driving safety is very important for the personal safety and property safety of people.
Therefore, the invention hopes to measure the transverse movement of the train wheels in real time by designing a measuring method of the transverse movement of the train wheels, and when the transverse movement exceeds a certain range, abnormal conditions can be found and notified in time.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a train wheel transverse movement measuring method based on structured light, which judges the intensity of snake-shaped movement by three-dimensionally reconstructing a train wheel and a track plane so as to realize the monitoring of train running safety and improve the safety of railway transportation.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: a method for measuring the transverse movement of a train wheel comprises the following steps:
1) arranging a binocular camera and a structured light source on a train bogie, wherein the shooting range comprises a wheel to be detected and a track, and adjusting the structured light source and projecting linear structured light on the wheel to be detected and the track; the method comprises the following steps that a binocular camera needs to be subjected to system calibration, internal parameters of the binocular camera are obtained, three-dimensional calibration is carried out to obtain a relative position relation matrix between the binocular camera, and three-dimensional correction preprocessing is carried out on left and right images by utilizing internal and external parameters;
2) carrying out probability Hough line detection on the image, and extracting structured light lines in a left view and a right view; taking the straight line angle as a matching feature, matching the structured light line segments in the left image and the right image one by one, and matching two end points of the same straight line segment; calculating the three-dimensional space coordinates of the feature points by using a binocular stereo vision algorithm and through the calibrated binocular internal parameters and external parameters;
3) according to the space coordinates of the corresponding characteristic points, three-dimensional reconstruction is carried out on the wheels and the tracks, and a three-dimensional space equation of the wheels and the tracks is established;
4) the distance between the projection point of the circle center of the wheel on the track plane and the edge of the track is calculated to be used as the transverse movement of the wheels of the train, a normal transverse movement range is set, if the distance between the projection point of the circle center of the wheel on the track plane and the edge of the track is within the normal transverse movement range, the train is judged to run normally, and if the distance between the projection point of the circle center of the wheel on the track plane and the edge of the track exceeds the normal transverse movement range, the train is judged to run abnormally.
In the step 1), a binocular camera and a plurality of structured light sources which are arranged in parallel are adopted and are arranged on a train bogie, and the angles of the camera and the structured light sources are adjusted, so that the binocular camera can shoot images of the structured light which are respectively irradiated on wheels and tracks at different angles.
In the step 1), calibrating the binocular camera by adopting a Zhang-Zhengyou calibration method to obtain a calibration result including SX、SY、u0、v0F, where SX、SYIs the physical size, u, of a single pixel of a camera chip0、v0Is the pixel coordinate of the optical center of the optical axis, and f is the focal length of the camera; carrying out three-dimensional calibration on the relative position relation of the binocular cameras to obtain an external parameter R, T, wherein the rotation factor
Figure BDA0002225327720000021
Translation factor
Figure BDA0002225327720000022
Rotation factor
Figure BDA0002225327720000023
The rotation effect of enabling the left camera and the right camera to have the same posture is shown, and the rotation effect can be specifically split into rotation theta along x, y and z axesx、θy、θzThese three steps, i.e. the parameter r in the twiddle factor1～r9Specifically, the product of the 3 rotation matrices is used to determine:
Figure BDA0002225327720000031
t in the translation factorx、ty、tzSetting a left camera coordinate system as X for the translation distance of the right camera origin relative to the left cameraLAnd the coordinate system of the right camera is XRAnd the relative formula of the two cameras can be obtained as XR＝RXL+T。
In the step 2), probability Hough straight line detection is carried out on the image, a straight line of the structured light mapped on the image is detected, the end point of the structured light at the edge of the object is selected as a characteristic point and matched, and 3 non-collinear characteristic points P on the wheel are selected after calculation1(x1,y1,z1)、P2(x2,y2,z2)、P3(x2,y2,z2) And 2 characteristic points Q of one side of the track1、Q2And 1 characteristic point Q of the other side3；
In step 3), a plane, wheel edge point P is determined using the 3 non-collinear points1、P2、P3Setting a constant A on the principle that the distances from the center of the circle are equal and are Ri、Bi、Ci、DiWherein (A)i,Bi,Ci) Is a normal vector of the wheel plane, the solution center O (x)i,yi,zi) Spatial coordinates:
Aix+Biy+Ciz+Di＝0
Figure BDA0002225327720000032
setting constants m, n and p, and utilizing 2 characteristic points Q on the same side of the track1、Q2Calculating an equation of a space straight line l where the track is located:
Figure BDA0002225327720000033
wherein (x)0,y0,z0) Is a certain point on the straight line l, (m, n, p) is the direction vector of the straight line l; constant A, B, C, D is set, using 2 characteristic points Q on the same side of the track1、Q2And 1 characteristic point Q of the other side3Calculating a general equation of an Ax + By + Cz + D of a plane α where the wheel is located, wherein (a, B, C) is a normal vector of the plane α;
in the step 4), sequentially calculating the projection V (x, y, z) of the circle center on the track plane and the distance d between the V and the track edge; over center O (x)i,yi,zi) And (3) making the vertical line of the orbit plane to intersect with the projection point V (x, y, z) to obtain a parameter equation of the vertical line:
Figure BDA0002225327720000041
substituting the parameter equation of the perpendicular line into the orbit plane equation α, and solving the corresponding parameter t of the projection point V (x, y, z) in the parameter equation:
Figure BDA0002225327720000042
then substituting the parameter t into a linear parameter equation to obtain a specific space coordinate V (x, y, z) of the projection point; by using two points Q on the same side of the track edge1、Q2And calculating the distance between the projection point V and the edge of the track:
Figure BDA0002225327720000043
setting a normal traverse range [ d ]min,dmax]If the distance d between the projection point of the circle center on the track plane and the track edgemin＜d＜dmaxIf so, the train runs normally; if the center of the circle is on the plane of the trackThe distance between the projection point and the edge of the track exceeds the normal transverse moving range, and the train runs abnormally at the moment.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the transverse movement formed between the wheels and the rails in the driving process is monitored in real time, and the driving safety is guaranteed.
2. The transverse moving information is acquired by a non-contact method through three-dimensional reconstruction of the wheel and the rail edge points, so that the safety is guaranteed and the measurement precision is improved.
3. The structured light is assisted to greatly improve the efficiency of feature point matching and reduce the time complexity of the algorithm.
Drawings
FIG. 1 is a logic flow diagram of the present invention.
Detailed Description
The present invention will be further described with reference to the following specific examples.
As shown in fig. 1, the method for measuring the lateral shift of the train wheel provided by the embodiment includes the following steps:
step 1: and calibrating the binocular cameras by a Zhang-Zhengyou calibration method indoors to obtain internal parameters of the binocular cameras and a relative position relation matrix between the two cameras. Printing a chessboard calibration board with known size, shooting 10-20 calibration board images at different positions, angles and postures, and extracting sub-pixel corner coordinates from each calibration image to calibrate the camera. Obtaining camera internal parameters: sX、Sy、u0、v0F, wherein SX、SyIs the physical size of a single pixel of a camera chip, u0、v0Is the pixel coordinate of the optical center of the optical axis, and f is the focal length of the camera; carrying out three-dimensional calibration on the relative position relation of the binocular cameras to obtain an external parameter R, T, wherein the rotation factor
Figure BDA0002225327720000051
Translation factorWherein the rotation factor
Figure BDA0002225327720000053
The rotation effect of enabling the left camera and the right camera to have the same posture is shown, and the rotation effect can be specifically split into rotation theta along x, y and z axesx、θy、θzThese 3 steps. I.e. the parameter r in the twiddle factor1～r9In particular by the product of 3 rotation matrices,
t in the translation factorx、ty、tzThe translation distance of the right camera origin relative to the left camera. Let the left camera coordinate system be XLAnd the coordinate system of the right camera is XRThe relative formula of the two cameras can be obtained as XR＝RXL+ T. And stereo correction preprocessing is performed on the left and right images.
Step 2: the method comprises the steps that a binocular camera and a structured light source are arranged on a train bogie, a shooting range comprises a wheel to be detected and a track, and the structured light source is adjusted and projected on the wheel to be detected and the track.
And step 3: and performing probability Hough line detection on the image, extracting structured light lines in the left view and the right view, and matching the structured light line segments in the left image and the right image one by one according to the line angle.
And 4, step 4: extracting image coordinates (X) of the same straight line and the same end point on the left camera and the right cameral,Yl)、(Xr,Yr) Calculating three-dimensional space coordinates P (x) of the feature points by using binocular stereo vision algorithm and through left and right camera internal parameters and external parameters R, T obtained by calibrationC,yC,zC)。
Figure BDA0002225327720000061
And 5: using 3 non-collinear pointsDefining a plane, wheel edge point P1、P2、P3The distances from the center of the circle are equal and are all R, and a general constant A is seti、Bi、Ci、DiWherein (A)i,Bi,Ci) Is a normal vector of the wheel plane, the solution center O (x)i,yi,zi) Spatial coordinates:
Aix+Biy+Ciz+Di＝0
Figure BDA0002225327720000062
setting general constants m, n and p, using 2 characteristic points Q on the same side of the track1、Q2Calculating an equation of a space straight line l where the track is located:wherein (x)0,y0,z0) Is a point on the straight line l, and (m, n, p) is the direction vector of the straight line l. Let general constant A, B, C, D, use 2 characteristic points Q on the same side of the track1、Q2And 1 characteristic point Q of the other side3Calculating a general equation of an Ax + By + Cz + D of a plane α where the wheel is located, wherein (a, B, C) is a normal vector of the plane α;
step 6: sequentially calculating the center O (x)i,yi,zi) The projection V (x, y, z) on the trajectory plane α and the distance d of the projection point V from the trajectory edgei,yi,zi) And (3) making the vertical line of the orbit plane to intersect with the projection point V (x, y, z) to obtain a parameter equation of the vertical line:
substituting the parameter equation of the perpendicular line into the orbit plane equation α, and solving the corresponding parameter t of the projection point V (x, y, z) in the parameter equation:
Figure BDA0002225327720000071
and substituting the parameter t into a linear parameter equation to obtain the specific space coordinate V (x, y, z) of the projection point. Using two points Q inside the edge of the track1、Q2And calculating the distance between the projection point V and the edge of the track:
Figure BDA0002225327720000072
step 7, setting a normal traverse range [ d ]min,dmax]If the distance d between the projection point of the circle center on the track plane and the inner edge of the trackmin＜d＜dmaxIf so, the train runs normally; if the distance between the projection point of the circle center on the track plane and the track edge exceeds the normal transverse moving range, the train is abnormal in operation at the moment.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that the changes in the shape and principle of the present invention should be covered within the protection scope of the present invention.

Claims (4)

1. A method for measuring the transverse movement of train wheels is characterized by comprising the following steps:
1) arranging a binocular camera and a structured light source on a train bogie, wherein the shooting range comprises a wheel to be detected and a track, and adjusting the structured light source and projecting linear structured light on the wheel to be detected and the track; the method comprises the following steps that a binocular camera needs to be subjected to system calibration, internal parameters of the binocular camera are obtained, three-dimensional calibration is carried out to obtain a relative position relation matrix between the binocular camera, and three-dimensional correction preprocessing is carried out on left and right images by utilizing internal and external parameters;
2) carrying out probability Hough line detection on the image, and extracting structured light lines in a left view and a right view; taking the straight line angle as a matching feature, matching the structured light line segments in the left image and the right image one by one, and matching two end points of the same straight line segment; calculating the three-dimensional space coordinates of the feature points by using a binocular stereo vision algorithm and through the calibrated binocular internal parameters and external parameters;
3) according to the space coordinates of the corresponding characteristic points, three-dimensional reconstruction is carried out on the wheels and the tracks, and a three-dimensional space equation of the wheels and the tracks is established;
4) the distance between the projection point of the circle center of the wheel on the track plane and the edge of the track is calculated to be used as the transverse movement of the wheels of the train, a normal transverse movement range is set, if the distance between the projection point of the circle center of the wheel on the track plane and the edge of the track is within the normal transverse movement range, the train is judged to run normally, and if the distance between the projection point of the circle center of the wheel on the track plane and the edge of the track exceeds the normal transverse movement range, the train is judged to run abnormally.
2. The method of claim 1, wherein the step of measuring the lateral movement of the train wheel comprises: in the step 1), a binocular camera and a plurality of structured light sources which are arranged in parallel are adopted and are arranged on a train bogie, and the angles of the camera and the structured light sources are adjusted, so that the binocular camera can shoot images of the structured light which are respectively irradiated on wheels and tracks at different angles.
3. The method of claim 1, wherein the step of measuring the lateral movement of the train wheel comprises: in the step 1), calibrating the binocular camera by adopting a Zhang-Zhengyou calibration method to obtain a calibration result including SX、SY、u0、v0F, where SX、SYIs the physical size, u, of a single pixel of a camera chip0、v0Is the pixel coordinate of the optical center of the optical axis, and f is the focal length of the camera; carrying out three-dimensional calibration on the relative position relation of the binocular cameras to obtain an external parameter R, T, wherein the rotation factor
Figure FDA0002225327710000021
Translation factor
Figure FDA0002225327710000022
Rotation factorThe rotation effect of enabling the left camera and the right camera to have the same posture is shown, and the rotation effect can be specifically split into rotation theta along x, y and z axesx、θy、θzThese three steps, i.e. the parameter r in the twiddle factor1～r9Specifically, the product of the 3 rotation matrices is used to determine:
Figure FDA0002225327710000024
t in the translation factorx、ty、tzSetting a left camera coordinate system as X for the translation distance of the right camera origin relative to the left cameraLAnd the coordinate system of the right camera is XRAnd the relative formula of the two cameras can be obtained as XR＝RXL+T。
4. The method of claim 1, wherein the step of measuring the lateral movement of the train wheel comprises: in the step 2), probability Hough straight line detection is carried out on the image, a straight line of the structured light mapped on the image is detected, the end point of the structured light at the edge of the object is selected as a characteristic point and matched, and 3 non-collinear characteristic points P on the wheel are selected after calculation1(x1,y1,z1)、P2(x2,y2,z2)、P3(x2,y2,z2) And 2 characteristic points Q of one side of the track1、Q2And 1 characteristic point Q of the other side3；
In step 3), a plane, wheel edge point P is determined using the 3 non-collinear points1、P2、P3Setting a constant A on the principle that the distances from the center of the circle are equal and are Ri、Bi、Ci、DiWherein (A)i,Bi,Ci) Is a normal vector of the wheel plane, the solution center O (x)i,yi,zi) Spatial coordinates:
Aix+Biy+Ciz+Di＝0
Figure FDA0002225327710000031
setting constants m, n and p, and utilizing 2 characteristic points Q on the same side of the track1、Q2Calculating an equation of a space straight line l where the track is located:
Figure FDA0002225327710000032
wherein (x)0,y0,z0) Is a certain point on the straight line l, (m, n, p) is the direction vector of the straight line l; constant A, B, C, D is set, using 2 characteristic points Q on the same side of the track1、Q2And 1 characteristic point Q of the other side3Calculating a general equation of an Ax + By + Cz + D of a plane α where the wheel is located, wherein (a, B, C) is a normal vector of the plane α;
in the step 4), sequentially calculating the projection V (x, y, z) of the circle center on the track plane and the distance d between the V and the track edge; over center O (x)i,yi,zi) And (3) making the vertical line of the orbit plane to intersect with the projection point V (x, y, z) to obtain a parameter equation of the vertical line:
Figure FDA0002225327710000033
substituting the parameter equation of the perpendicular line into the orbit plane equation α, and solving the corresponding parameter t of the projection point V (x, y, z) in the parameter equation:
Figure FDA0002225327710000034
then substituting the parameter t into a linear parameter equation to obtain a specific space coordinate V (x, y, z) of the projection point; by using two points Q on the same side of the track edge1、Q2And calculating the distance between the projection point V and the edge of the track:
setting upNormal range of lateral movement [ dmin,dmax]If the distance d between the projection point of the circle center on the track plane and the track edgemin＜d＜dmaxIf so, the train runs normally; if the distance between the projection point of the circle center on the track plane and the track edge exceeds the normal transverse moving range, the train is abnormal in operation at the moment.
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Application publication date: 20200221