CN112432610A - Train clearance detection device and detection method - Google Patents
Train clearance detection device and detection method Download PDFInfo
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- CN112432610A CN112432610A CN202011389468.6A CN202011389468A CN112432610A CN 112432610 A CN112432610 A CN 112432610A CN 202011389468 A CN202011389468 A CN 202011389468A CN 112432610 A CN112432610 A CN 112432610A
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
Abstract
The invention provides a train limit detection device, which comprises a portal frame, a range finder, a camera bracket and a laser camera, wherein the portal frame is provided with a first support; the portal frame is arranged on the foundation; the portal frame comprises two upright posts and a beam for connecting the two upright posts; the distance measuring instrument is arranged on the upright column and used for monitoring the position of the train body; a plurality of camera brackets are arranged on the beam, the upright post and the trench, and the camera brackets in the trench are connected with the portal frame through connecting rods; and each camera support is provided with a laser camera. The invention also provides a train clearance detection method, which comprises the steps of camera group calibration, detection system verification, coordinate system establishment, data acquisition, contour correction, real-time monitoring and the like. According to the invention, the contour splicing technology is adopted, all contour points are spliced into a complete vehicle body section contour in a sensor cascade mode, the real size condition of the vehicle body is accurately restored, the line laser local detection overall detection is realized through the calibration of the camera group, and the detection precision is greatly improved.
Description
Technical Field
The invention relates to the technical field of train vehicle precision measurement, in particular to a train clearance detection device and a train clearance detection method.
Background
Train clearance means that the contour dimension line is not allowed to be exceeded when the train approaches a building or any equipment in order to ensure the normal operation of the train and safety factors, as specified by the ministry of railways. Any part of the train must not exceed the dimensions specified by the train vehicle limits in any case. The method for detecting the train vehicle limit is mainly obtained by obtaining the vehicle external contour (envelope curve), one section contour perpendicular to the track center line at a certain moment in the running process of the train vehicle is the maximum contour of the section of the vehicle, and the maximum contour superposed by all the section contours in the running process of the vehicle is the limit of the vehicle.
The traditional train body space size detection uses various tools such as detection tools, detection templates, measuring tapes, plug gauges and the like. The detected data also has the following problems: the influence of human factors is large, the tool precision is not high, the measured data are inconsistent, the measuring labor intensity is large, and the measurement is not repeatable; when a worker reads the measurement data, the worker is influenced by experience and environment, and the measurement result is easy to be unbalanced in acquisition; and when the traditional measuring method is used for measuring the whole vehicle or a local vehicle body, an accurate error value cannot be obtained, and the measuring time is long once, so that the measuring efficiency is low. Therefore, the non-contact laser limit development is needed, and the requirements of automatic, non-contact and non-damage measurement under the high-capacity condition of an enterprise are met.
In summary, there is a need for a train clearance detection device and a detection method to solve the problems in the prior art.
Disclosure of Invention
The invention aims to provide a train clearance detection device and a train clearance detection method, which are used for improving the detection efficiency, improving the detection precision, improving the equipment detection compatibility and providing three-dimensional data for a technical department for optimization design.
In order to achieve the aim, the invention provides a train limit detection device, which comprises a portal frame, a range finder, a camera bracket and a laser camera; the portal frame is arranged on the foundation; the portal frame comprises two upright posts and a beam for connecting the two upright posts; the distance measuring instrument is arranged on the upright column and used for monitoring the position of the train body; a plurality of camera brackets are arranged on the beam, the upright post and the trench, and the camera brackets in the trench are connected with the portal frame through connecting rods; each camera bracket is provided with a laser camera; the light plane that laser camera sent throws on the automobile body of train, realizes 360 seamless limits of clearance detection to train automobile body, vehicle bottom.
Furthermore, a lifting beam and a motor for driving the lifting beam to move are installed on the portal frame, and two ends of the lifting beam are respectively connected with the two stand columns in a sliding manner so as to adapt to train clearance detection of different train types
Furthermore, a guide rail is installed on the foundation, a sliding block is installed at the bottom of the portal frame, and a groove matched with the guide rail is formed in the sliding block.
Furthermore, a rack is installed on the foundation and arranged in parallel with the guide rail, a gear and a motor for driving the gear to rotate are installed at the bottom of the portal frame, the gear is meshed with the rack, and the portal frame is pushed to move on the guide rail through rotation of the gear.
Furthermore, a light shielding plate is arranged on the outer side of the beam to reduce interference of external light on image acquisition of the laser camera.
The invention also provides a train clearance detection method, which adopts the detection device and comprises the following steps:
the method comprises the following steps: installing a portal frame, a camera support and various auxiliary parts, installing a 3D laser camera on a movable camera support, finely adjusting the installation position of each camera to enable a laser line to be continuously and excessively projected on a vehicle body, setting parameters of the cameras, calibrating a camera group by adopting a customized standard calibration component, and synchronizing the acquisition values of all the cameras to the same coordinate system;
step two: the precision of the detection device is verified by adopting a standard check block, the check block is placed under the visual field of a camera, the camera collects data of the check block, each parameter value of the check block is calculated and compared with a standard value, and the system can be put into use only when the error is within an allowable range;
step three: placing the standard vehicle body outline template in a camera view range, centering a vehicle body template support with a train track, scanning the standard vehicle body outline template by a camera to obtain collected data of the vehicle body outline template, and establishing a system coordinate system according to the template data;
step four: the system automatically adjusts the height of a lifting beam of the portal frame according to the type of the train;
step five: the system monitors the train body distance in real time through a distance meter and uploads the data to a detection software system in the process of advancing the gantry on the guide rail, when a train body enters the camera view below the gantry, a camera group is triggered to shoot and acquire train body outline data, and the acquired data are uploaded to the detection software system; splicing all the contour points into a complete vehicle body section contour by adopting a contour splicing technology in a sensor cascade mode;
step six: correcting and storing the acquired vehicle body contour in real time by adopting the affine transformation principle;
step seven: and (4) carrying out limit detection on the vehicle body contour acquired in real time and the standard vehicle body contour of the vehicle type, storing detection result data, and repeating the steps from five to seven until the detection of the whole train compartment is finished.
Step eight: and fusing the acquired 3D data of the section outline of the vehicle body and the acquired data of the range finder according to the results of the third step to the seventh step to obtain the 3D point cloud data of the whole vehicle and generate a corresponding 3D model of the vehicle body, displaying the data in a software system, and manually measuring the data on the model by using a measuring tool.
Step nine: and generating and storing a finished automobile detection result, outputting a detection result report, and printing.
Further, the establishing of the system coordinate system in the third step specifically includes: and (3) obtaining an XZ axis from the collected template data in a fitting calculation mode by adopting a right-hand coordinate system, taking the end surface of the bottom of the template as the positive X direction of the coordinate system, the direction of the center line of the template as the positive Z direction, and the advancing direction of the train as the negative Y direction, and obtaining the direction of the Y axis by taking the intersection point of the XZ axis as the origin of the coordinate system and calculating through ZX cross multiplication.
Further, the limit detection in the seventh step is specifically: firstly, carrying out limit detection on a single acquisition contour section to detect whether the vehicle bottom has overrun; and smoothing and correcting the collected contour, comparing the smoothed contour with an imported standard limit size diagram, calculating whether the top is overrun or not, and calculating whether the two sides of the vehicle body are overrun or not.
The technical scheme of the invention has the following beneficial effects:
(1) in the invention, all cameras are arranged at the designed position of a portal frame, a standard car body outline template is arranged at a designated position, laser lines of all cameras can be projected on the standard car body outline template, the light is ensured to be uniform, the intensity of the laser light is adjusted to be suitable for the black and white colors of two typical standard car body outline templates, a camera installation adjusting mechanism is finely adjusted, so that the connection between the laser lines is continuous and parallel, an outline splicing technology is adopted, all the contour points are spliced into a complete vehicle body section contour in a sensor cascade mode, the real section size condition of the vehicle body is accurately restored, the 3D laser camera local detection overall detection is realized through the calibration of the camera group, instead of independently detecting the position of the vehicle body by a single sensor, the 3D contour splicing technology is adopted, and the detection precision is greatly improved.
(2) In the invention, a vehicle body contour is collected by 14 cameras, about 18000 data points exist, if the contour is collected once at an interval of 3mm, about 8333 contours are collected for a 25m long vehicle body, and 8000 pieces of contour point cloud data are spliced into a whole vehicle model by adopting a contour splicing technology in combination with vehicle body position data and a time frame collected by a range finder, so that the actual 3D model of the vehicle body generated by image collection can be visually checked.
(3) According to the invention, laser cameras are arranged on the beam of the portal frame, on the upright post and in the trench, and a light plane emitted by the laser cameras is projected on the train body, so that 360-degree seamless limit detection of the train body and train bottom is realized.
(4) According to the invention, the lifting beam and the motor for driving the lifting beam to move are installed on the portal frame, two ends of the lifting beam are respectively connected with the two upright posts in a sliding manner, and the lifting beam can slide up and down along the upright posts so as to adjust the height of the portal frame, and can be suitable for train clearance detection of different vehicle types.
(5) In the invention, the gear and rack transmission is adopted to drive the portal frame to move, the transmission is stable, and the motion precision is high. And the double-row guide rail is adopted for guiding, so that the stability is good.
(6) In the invention, the outer side of the beam is provided with the light screen to reduce the interference of external light on the image acquisition of the laser camera and improve the detection precision.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a train clearance detecting device;
FIG. 2 is a schematic view of a rack and pinion mounting arrangement;
FIG. 3 is a perspective view of a train clearance detecting apparatus;
FIG. 4 is a standard body contour template;
FIG. 5 is an auto-limit detection flow diagram;
the system comprises a lifting beam 1, a lifting beam 2, a portal frame 3, a range finder 4, a motor 5, a camera support 6, a laser camera 7, a light plane 8, a train 9, a foundation 10, a trench 11, a guide rail 12, a shading plate 13, a rack 14 and a servo motor.
Detailed Description
Embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.
Example 1:
referring to fig. 1 to 4, a train clearance detection device comprises a portal frame 2, a range finder 3, a camera bracket 5 and a laser camera 6; the portal frame 2 is arranged on the foundation 9; the portal frame 2 comprises two upright posts and a beam for connecting the two upright posts; the distance measuring instrument 3 is arranged on the upright column and used for monitoring the position of the train body 8; a plurality of camera brackets 5 are arranged on the beam, the upright post and the trench 10, and the camera brackets 5 in the trench 10 are connected with the portal frame 2 through connecting rods; each camera bracket 5 is provided with a laser camera 6; the light plane 7 emitted by the laser camera 6 is projected on the train body of the train 8, and 360-degree seamless limit detection of the train body and train bottom of the train 8 is realized. The present embodiment comprises 14 3D laser cameras 6 forming a ring in space, of which 3 are located in the trench 10.
The gantry 2 is provided with a lifting beam 1 and a motor 4 for driving the lifting beam 1 to move, and two ends of the lifting beam 1 are respectively connected with the two upright posts in a sliding manner so as to adapt to the detection of the limits of 8 trains of different types.
The guide rail 11 is installed on the foundation 9, the sliding block is installed at the bottom of the portal frame 2, and the sliding block is provided with a groove matched with the guide rail 11. This embodiment employs double rows of guide rails.
A rack 13 is arranged on the foundation 9, the rack 13 is arranged in parallel with the guide rail, a gear (not shown) and a servo motor 14 for driving the gear to rotate are arranged at the bottom of the portal frame 2, the gear is meshed with the rack 13, and the portal frame 2 is pushed to move on the guide rail through the rotation of the gear.
The outer side of the beam is provided with a light shielding plate 12 to reduce the interference of external light to the image acquisition of the laser camera 6.
When the boundary detection equipment is started, the input signal in the detection system needs to be effectively fed back, and the following conditions are detected and fed back according to the principle and the characteristics of the measurement equipment, so that the measurement error caused by equipment failure is avoided.
1) Whether the 3D laser camera function is normal is detected, camera laser line intensity and uniformity are detected, whether shielding exists in the visual field is detected, it is guaranteed that laser projection line laser is normal, and data collected by the 3D laser camera are normal.
2) Whether the data collected by the camera set is normal is detected, the camera is controlled to shoot the standard precision calibration module, dimension measurement is carried out, and the dimension measurement is compared with the standard module, so that whether the data collected by the camera set is normal is verified.
3) And (3) detecting the position of the gantry, after the system is automatically checked, checking the position of the gantry lifting beam before the detection is started, confirming whether the position is matched with the current vehicle type, and preventing the conditions such as collision caused by the position error of the gantry and the like.
4) The laser distance sensor detects whether the position of the distance measuring instrument is normal or not, and the situation that no distance measuring data is in collision is avoided, and the laser distance sensor is parallel to the vehicle body. The data stability of the distance measuring sensor is detected, the equipment is guaranteed to be aligned to the reflector, the reflector is installed at the tail of the vehicle body, the intensity and uniformity of bright spots projected by the laser emission light source are detected, and whether reflected light data can be normally received or not is detected.
The detection equipment is deployed inside the assembly plant, the detection environment is an open space, and severe environment influence needs to be overcome in the detection and calculation process, so that the system needs to measure and feed back the following interference factors:
1) weather and other external factors including cloudy and nighttime detection;
2) measuring errors are generated by vibration;
3) measurement omission is caused by vehicle body defects;
4) deformation due to vehicle loading;
5) suspension system effects;
6) vehicle manufacturing tolerances;
the above interference factors may cause errors in the detection process of the vehicle body, and the detection environment of the above type and not limited to the above type needs to be recorded and experimentally analyzed through system measurement so as to perform data analysis and limit calculation.
The detection method adopting the train clearance detection device comprises the following steps (as shown in figure 5):
the method comprises the following steps: the method comprises the steps of installing a portal frame, a camera support and various auxiliary parts, installing a 3D laser camera on a movable camera support, finely adjusting the installation position of each camera, enabling a laser line to be continuously and excessively projected on a vehicle body, setting parameters of the cameras, calibrating a camera group by adopting a customized standard calibration component, and synchronizing the acquisition values of all the cameras to the same coordinate system.
Step two: the precision of the detection device is verified by adopting a standard check block, the check block is placed under the visual field of a camera, the camera collects data of the check block, each parameter value of the check block is calculated and compared with a standard value, and the system can be put into use when the error is within an allowable range.
Step three: and placing the standard vehicle body outline template in the field of view of the camera, centering the vehicle body template support with the train track, scanning the standard vehicle body outline template by the camera to obtain the acquired data of the vehicle body outline template, and establishing a system coordinate system according to the template data.
The establishment of the system coordinate system specifically comprises the following steps: and (3) obtaining an XZ axis from the collected template data in a fitting calculation mode by adopting a right-hand coordinate system, taking the end surface of the bottom of the template as the positive X direction of the coordinate system, the direction of the center line of the template as the positive Z direction, and the advancing direction of the train as the negative Y direction, and obtaining the direction of the Y axis by taking the intersection point of the XZ axis as the origin of the coordinate system and calculating through ZX cross multiplication.
Step four: the system automatically adjusts the height of the lifting beam of the portal frame according to the type of the train.
Step five: the system monitors the train body distance in real time through a distance meter and uploads the data to a detection software system in the process of advancing the gantry on the guide rail, when a train body enters the camera view below the gantry, a camera group is triggered to shoot and acquire train body outline data, and the acquired data are uploaded to the detection software system; and (3) splicing all the contour points into a complete vehicle body section contour by adopting a contour splicing technology and a sensor cascading mode.
Step six: and correcting and storing the collected vehicle body contour in real time by adopting the affine transformation principle.
Step seven: and (4) carrying out limit detection on the vehicle body contour acquired in real time and the standard vehicle body contour of the vehicle type, storing detection result data, and repeating the steps from five to seven until the detection of the whole train compartment is finished.
The limit detection specifically comprises the following steps: firstly, carrying out limit detection on a single acquisition contour section to detect whether the vehicle bottom has overrun; and smoothing and correcting the collected contour, comparing the smoothed contour with an imported standard limit size diagram, calculating whether the top is overrun or not, and calculating whether the two sides of the vehicle body are overrun or not.
Step eight: and fusing the acquired 3D data of the section outline of the vehicle body and the acquired data of the range finder according to the results of the third step to the seventh step to obtain the 3D point cloud data of the whole vehicle and generate a corresponding 3D model of the vehicle body, displaying the data in a software system, and manually measuring the data on the model by using a measuring tool.
Step nine: and generating and storing a finished automobile detection result, outputting a detection result report, and printing.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A train clearance detection device is characterized by comprising a portal frame, a range finder, a camera support and a laser camera; the portal frame is arranged on the foundation; the portal frame comprises two upright posts and a beam for connecting the two upright posts; the distance measuring instrument is arranged on the upright column and used for monitoring the position of the train body; a plurality of camera brackets are arranged on the beam, the upright post and the trench, and the camera brackets in the trench are connected with the portal frame through connecting rods; each camera bracket is provided with a laser camera; the light plane that laser camera sent throws on the automobile body of train, realizes 360 seamless limits of clearance detection to train automobile body, vehicle bottom.
2. The train clearance detecting device of claim 1, wherein the gantry is provided with a lifting beam and a motor for driving the lifting beam to move, and two ends of the lifting beam are slidably connected with the two columns respectively.
3. The train clearance detecting device of claim 2, wherein a guide rail is installed on the foundation, a sliding block is installed at the bottom of the portal frame, and a groove matched with the guide rail is formed in the sliding block.
4. The train clearance detecting device of claim 3, wherein a rack is installed on the foundation, the rack is parallel to the guide rail, a gear and a motor for driving the gear to rotate are installed at the bottom of the gantry, the gear is engaged with the rack, and the gantry is driven to move on the guide rail through the rotation of the gear.
5. The train clearance detecting device of claim 4, wherein a light shielding plate is disposed outside the beam to reduce interference of external light to image acquisition of the laser camera.
6. A train clearance detection method, which adopts the detection device as claimed in any one of claims 1 to 5, and is characterized by comprising the following steps:
the method comprises the following steps: installing a portal frame, a camera support and various auxiliary parts, installing a 3D laser camera on a movable camera support, finely adjusting the installation position of each camera to enable a laser line to be continuously and excessively projected on a vehicle body, setting parameters of the cameras, calibrating a camera group by adopting a customized standard calibration component, and synchronizing the acquisition values of all the cameras to the same coordinate system;
step two: the precision of the detection device is verified by adopting a standard check block, the check block is placed under the visual field of a camera, the camera collects data of the check block, each parameter value of the check block is calculated and compared with a standard value, and the system can be put into use only when the error is within an allowable range;
step three: placing the standard vehicle body outline template in a camera view range, centering a vehicle body template support with a train track, scanning the standard vehicle body outline template by a camera to obtain the acquired data of the standard vehicle body outline template, and establishing a system coordinate system according to the template data;
step four: the system automatically adjusts the height of a lifting beam of the portal frame according to the type of the train;
step five: the system monitors the train body distance in real time through a distance meter and uploads the data to a detection software system in the process of advancing the gantry on the guide rail, when a train body enters the camera view below the gantry, a camera group is triggered to shoot and acquire train body outline data, and the acquired data are uploaded to the detection software system; splicing all the contour points into a complete vehicle body section contour by adopting a contour splicing technology in a sensor cascade mode;
step six: correcting and storing the acquired vehicle body contour in real time by adopting the affine transformation principle;
step seven: and (4) carrying out limit detection on the vehicle body contour acquired in real time and the standard vehicle body contour of the vehicle type, storing detection result data, and repeating the steps from five to seven until the detection of the whole train compartment is finished.
7. The method for detecting train clearance according to claim 6, wherein the establishing a system coordinate system in the third step is specifically: and (3) obtaining an XZ axis from the collected template data in a fitting calculation mode by adopting a right-hand coordinate system, taking the end surface of the bottom of the template as the positive X direction of the coordinate system, the direction of the center line of the template as the positive Z direction, and the advancing direction of the train as the negative Y direction, and obtaining the direction of the Y axis by taking the intersection point of the XZ axis as the origin of the coordinate system and calculating through ZX cross multiplication.
8. The train clearance detection method according to claim 7, wherein the clearance detection in the seventh step is specifically: firstly, carrying out limit detection on a single acquisition contour section to detect whether the vehicle bottom has overrun; and smoothing and correcting the collected contour, comparing the smoothed contour with an imported standard limit size diagram, calculating whether the top is overrun or not, and calculating whether the two sides of the vehicle body are overrun or not.
9. The train clearance detection method according to claim 8, further comprising the steps of: and fusing the acquired 3D data of the section outline of the vehicle body and the acquired data of the range finder according to the results of the third step to the seventh step to obtain the 3D point cloud data of the whole vehicle and generate a corresponding 3D model of the vehicle body, displaying the data in a software system, and manually measuring the data on the model by using a measuring tool.
10. The train clearance detection method according to claim 9, further comprising the steps of: and generating and storing a finished automobile detection result, outputting a detection result report, and printing.
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| CN113310710A (en) * | 2021-05-12 | 2021-08-27 | 中车太原机车车辆有限公司 | Detachable limit door for railway wagon |
| CN113776454A (en) * | 2021-08-20 | 2021-12-10 | 国家电投集团远达环保装备制造有限公司 | Boundary detection system and boundary detection method |
| CN113859298A (en) * | 2021-09-18 | 2021-12-31 | 天津大学 | Real-time measurement system and method for limit of rail-changing locomotive |
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| CN113310710A (en) * | 2021-05-12 | 2021-08-27 | 中车太原机车车辆有限公司 | Detachable limit door for railway wagon |
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| CN113776454A (en) * | 2021-08-20 | 2021-12-10 | 国家电投集团远达环保装备制造有限公司 | Boundary detection system and boundary detection method |
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| CN114485462A (en) * | 2021-12-31 | 2022-05-13 | 北京航天测控技术有限公司 | Vehicle contour detection system and method for rail transit |
| CN114516348A (en) * | 2022-03-10 | 2022-05-20 | 北京华横科技有限公司 | Train freight vehicle limit detection device and method |
| CN114719776A (en) * | 2022-04-11 | 2022-07-08 | 中车株洲电力机车有限公司 | Calibration tool and calibration method for rail vehicle body contour detection system |
| CN116878419B (en) * | 2023-09-06 | 2023-12-01 | 南京景曜智能科技有限公司 | Rail vehicle limit detection method and system based on three-dimensional point cloud data and electronic equipment |
| CN116878419A (en) * | 2023-09-06 | 2023-10-13 | 南京景曜智能科技有限公司 | Rail vehicle limit detection method and system based on three-dimensional point cloud data and electronic equipment |
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