CN112902869A - Method and device for adjusting laser plane of rail profile measuring system - Google Patents
Method and device for adjusting laser plane of rail profile measuring system Download PDFInfo
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Abstract
The invention discloses a method and a device for adjusting a laser plane of a rail profile measuring system, wherein the method comprises the following steps: acquiring internal parameters and external parameters of cameras in laser camera modules on the left side and the right side in a rail profile measuring system; acquiring a light strip image of the convex calibration block; a planar target calibration plate is respectively arranged on the three upper surfaces of the convex calibration block, and a plurality of uniformly distributed marker points are arranged on each planar target calibration plate; the convex calibration block and the corresponding plane target calibration plate are arranged in the working range of the laser camera components at the left side and the right side; determining parameters of laser planes on the left side and the right side according to the internal parameters, the external parameters and the light strip image of the convex calibration block; determining the coplanarity degree of the laser planes on the left side and the right side according to the parameters of the laser planes on the left side and the right side; and adjusting the positions of the lasers in the laser camera assemblies on the left side and the right side according to the coplanarity degree. The invention can realize the quick and accurate adjustment of the laser planes on the left side and the right side of the rail profile measuring system to be coplanar.
Description
Technical Field
The invention relates to the technical field of rail detection, in particular to a method and a device for adjusting a laser plane of a rail profile measuring system.
Background
This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
In the on-line structured light steel rail profile measuring system, the coplanarity degree of the left and right laser planes is an important factor influencing the steel rail profile measuring precision. When the laser planes on the two sides are not coplanar, the measuring profile can generate certain distortion to cause measuring errors, and therefore, in order to ensure the accuracy of the measuring result of the steel rail profile, the laser planes on the two sides are installed in a coplanar manner. At present, when two-side laser is installed, two-side lasers are incident on the same scale mark of a calibration plate, and whether the two-side laser planes meet the coplanar installation requirement or not is judged by observing the coincidence degree of the intersection line of the two-side laser planes and the scale mark of the calibration plate through naked eyes. This method of adjusting the laser plane has the following disadvantages: (1) the parameters of the laser planes on the two sides cannot be obtained in real time, so that whether the laser planes on the two sides are coplanar cannot be accurately judged, and whether the laser planes on the two sides are coplanar can only be roughly judged. (2) The visual observation is subjective and has more uncertain factors. (3) Even if the laser planes on the two sides are completely overlapped with the scale marks, the possibility that the lasers on the two sides are not coplanar exists, for example, the intersection line of the laser planes on the two sides is just the scale marks.
Disclosure of Invention
The embodiment of the invention provides a method for adjusting a laser plane of a rail profile measuring system, which is used for quickly and accurately adjusting the installation positions of lasers on the left side and the right side in the rail profile measuring system, and comprises the following steps:
acquiring internal parameters and external parameters of cameras in laser camera modules on the left side and the right side in a rail profile measuring system;
acquiring a light strip image of the convex calibration block; a planar target calibration plate is respectively arranged on the three upper surfaces of the convex calibration block, and a plurality of uniformly distributed marker points are arranged on each planar target calibration plate; the convex calibration block and the corresponding plane target calibration plate are arranged in the working range of the laser camera components at the left side and the right side;
determining laser plane parameters of the left side and the right side according to internal parameters and external parameters of cameras in the laser camera shooting assemblies of the left side and the right side and light strip images of the convex calibration blocks; determining the coplanarity degree of the laser planes on the left side and the right side according to the parameters of the laser planes on the left side and the right side;
and adjusting the positions of the lasers in the laser camera assemblies on the left side and the right side according to the coplanarity degree of the laser planes on the two sides.
The embodiment of the invention also provides a laser plane adjusting device of a rail profile measuring system, which is used for quickly and accurately adjusting the installation positions of the left and right lasers in the rail profile measuring system, and comprises:
the acquisition unit is used for acquiring internal parameters and external parameters of cameras in the laser camera shooting assemblies on the left side and the right side in the rail profile measuring system;
the image acquisition unit is used for acquiring the light strip image of the convex calibration block; a planar target calibration plate is respectively arranged on the three upper surfaces of the convex calibration block, and a plurality of uniformly distributed marker points are arranged on each planar target calibration plate; the convex calibration block and the corresponding plane target calibration plate are arranged in the working range of the laser camera components at the left side and the right side;
the coplanarity degree determining unit is used for determining laser plane parameters on the left side and the right side according to internal parameters and external parameters of cameras in the laser camera shooting assemblies on the left side and the right side and light strip images of the convex calibration blocks; determining the coplanarity degree of the laser planes on the left side and the right side according to the parameters of the laser planes on the left side and the right side;
and the adjusting unit is used for adjusting the positions of the lasers in the laser camera assemblies on the left side and the right side according to the coplanarity degree of the laser planes on the two sides.
The embodiment of the invention also provides computer equipment which comprises a memory, a processor and a computer program which is stored on the memory and can be run on the processor, wherein when the processor executes the computer program, the visualized adjustment method of the laser plane of the track profile measurement system is realized.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program for executing the above method for visually adjusting a laser plane of a track profile measuring system is stored in the computer-readable storage medium.
In the embodiment of the invention, compared with the technical scheme that whether the laser planes on the two sides meet the coplanar installation requirement is judged by observing the coincidence degree of the intersection lines of the laser planes on the two sides and the scale lines of the calibration plate by naked eyes in the prior art, and then the laser planes of the rail profile measuring system are adjusted, the rail profile measuring system has low efficiency and accuracy, the rail profile measuring system comprises the following steps: acquiring internal parameters and external parameters of cameras in laser camera modules on the left side and the right side in a rail profile measuring system; acquiring a light strip image of the convex calibration block; a planar target calibration plate is respectively arranged on the three upper surfaces of the convex calibration block, and a plurality of uniformly distributed marker points are arranged on each planar target calibration plate; the convex calibration block and the corresponding plane target calibration plate are arranged in the working range of the laser camera components at the left side and the right side; determining parameters of laser planes on the left side and the right side according to the internal parameters, the external parameters and the light strip image of the convex calibration block; determining the coplanarity degree of the laser planes on the left side and the right side according to the parameters of the laser planes on the left side and the right side; and adjusting the positions of the lasers in the laser camera assemblies on the left side and the right side according to the coplanarity degree. The invention can realize the quick and accurate adjustment of the laser planes on the left side and the right side of the rail profile measuring system to be coplanar.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:
FIG. 1 is a schematic diagram of a rail profile measurement system according to an embodiment of the present invention;
FIGS. 2A and 2B are schematic diagrams of a two-sided laser plane adjustment method in the prior art; wherein, fig. 2A is a schematic diagram of the intersection line of the laser planes at two sides coinciding with the scale mark, and fig. 2B is a schematic diagram of the intersection line of the laser planes at two sides not coinciding with the scale mark;
FIG. 3 is a diagram illustrating a special case where the lasers on the two sides are not coplanar according to an embodiment of the present invention;
FIG. 4 is a schematic view of a rail profile measurement and laser plane adjustment system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a convex calibration block and 3 planar target coordinate systems in an embodiment of the present invention;
FIG. 6 is a schematic view of a laser plane visualization adjustment principle of the steel rail profile measurement system in the embodiment of the invention;
fig. 7A and 7B are convex calibration block images acquired by a left camera and a right camera in the embodiment of the present invention, where fig. 7A is the convex calibration block image acquired by the left camera, and fig. 7B is the convex calibration block image acquired by the right camera;
FIGS. 8A and 8B are left and right convex calibration block light bar images collected by two cameras according to an embodiment of the present invention; wherein, fig. 8A is a convex calibration bar image collected by the left camera, and fig. 8B is a convex calibration bar image collected by the right camera;
FIG. 9 is a schematic view of visual adjustment of laser planes on two sides of a steel rail in an embodiment of the invention;
FIG. 10 is a schematic view of a checkerboard flat target calibration plate in another embodiment of the present invention;
FIG. 11 is a schematic diagram illustrating a method for adjusting a laser plane of a track profile measuring system according to an embodiment of the present invention;
fig. 12 is a schematic view of a laser plane adjustment device of a rail profile measuring system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
The line structure light profile measuring technology is based on the triangulation principle, can obtain the profile information of a measured object in real time, has the characteristics of high speed, high precision and non-contact, and is the mainstream mode of dynamic detection of the steel rail profile. FIG. 1 is a schematic diagram of line structured light rail profile measurement, wherein a set of laser camera modules consisting of a camera, a lens and a line laser is respectively arranged on the left side and the right side of a rail, the laser planes of the two sets of modules are installed in a coplanar manner and are respectively used for acquiring the profile data of left and right half sections of the rail, and the half section profiles are spliced by calibration parameters, so that the full section profile of the rail is obtained. And the profile measurement of the whole steel rail can be realized by matching with scanning motion.
Aiming at the line structured light rail profile measurement, the inventor finds a technical problem that:
at present, when the two-side line laser is installed, the two-side laser planes are incident on the same scale mark of the calibration plate, as shown in fig. 2A and fig. 2B, whether the two-side laser planes meet the coplanar installation requirement is judged by observing the coincidence degree of the intersection line of the two-side laser planes and the scale mark of the calibration plate through naked eyes.
In the prior art, whether the laser planes on the two sides meet the coplanar installation requirement is judged by observing the coincidence degree of the intersection line of the laser planes on the two sides and the scale line of the calibration plate by naked eyes, and the method has the following defects.
(1) The parameters of the laser planes on the two sides cannot be obtained in real time, so that whether the laser planes on the two sides are coplanar cannot be accurately judged, and whether the laser planes on the two sides are coplanar can only be roughly judged. Obviously, the existing method only can roughly judge whether the lasers on the two sides are coplanar or not by observing the position of the laser line through naked eyes. Because the method can not obtain the parameters of the laser planes at the two sides, the important parameters for judging the positions of the two space planes are lacked, and whether the two planes are coplanar or not can not be accurately judged.
(2) The visual observation is subjective and has more uncertain factors. When the laser plane is adjusted, whether the laser plane is adjusted in place or not is judged by observing the position of the laser line through naked eyes, however, the laser plane is limited by the influence of factors such as laser speckles and laser line width, the laser line irradiated on the calibration plate has larger width, at the moment, even if the actual contact ratio of the laser line and the scale line is lower, the laser plane is easily influenced by factors such as observation angles, adjustment experience and lighting environment through manual observation, and the laser plane is judged to be adjusted in place by mistake.
(3) Even if the laser planes on the two sides are completely overlapped with the scale marks, the possibility that the laser planes on the two sides are not coplanar exists, as shown in fig. 3, at this time, the intersection line of the laser planes on the two sides is just the scale marks, but the laser planes on the two sides are not coplanar.
Aiming at the found technical problems, the inventor provides a visual adjustment scheme for the laser plane of the steel rail profile measurement system, the parameters of the left and right laser planes are obtained in real time through a convex calibration block, the left and right planes are displayed in real time under the same coordinate system through a program window, the normal included angle and the plane distance of the two planes are simultaneously calculated, and the adjustment operation of the laser plane is guided by taking the normal included angle and the plane distance of the two planes obtained in real time as the coplane judgment standard. The method is simple to operate, the laser plane adjusting process is visualized, the coplanarity judging standard is not influenced by artificial subjective factors, and the method has the advantages of being strong in real-time performance and high in accuracy. The following describes in detail the laser plane visualization adjustment scheme of the rail profile measurement system.
Fig. 11 is a schematic diagram of a method for adjusting a laser plane of a track profile measuring system according to an embodiment of the present invention, as shown in fig. 11, the method includes the following steps:
step 101: acquiring internal parameters and external parameters of cameras in laser camera modules on the left side and the right side in a rail profile measuring system;
step 102: acquiring a light strip image of the convex calibration block; a planar target calibration plate is respectively arranged on the three upper surfaces of the convex calibration block, and a plurality of uniformly distributed marker points are arranged on each planar target calibration plate; the convex calibration block and the corresponding plane target calibration plate are arranged in the working range of the laser camera components at the left side and the right side;
step 103: determining laser plane parameters of the left side and the right side according to internal parameters and external parameters of cameras in the laser camera shooting assemblies of the left side and the right side and light strip images of the convex calibration blocks; determining the coplanarity degree of the laser planes on the left side and the right side according to the parameters of the laser planes on the left side and the right side;
step 104: and adjusting the positions of the lasers in the laser camera assemblies on the left side and the right side according to the coplanarity degree of the laser planes on the two sides.
The invention can realize the quick and accurate adjustment of the laser planes on the left side and the right side of the rail profile measuring system to be coplanar. In the embodiment of the present invention, the left and right sides both refer to the left and right sides.
Fig. 4 is a visual adjusting device of rail profile measurement system laser plane (in fig. 4, 1-1 is a left side camera, 1-2 is a right side camera, 2-1 is a left side line laser, 2-2 is a right side line laser, and 3 is a convex calibration block), compared with the existing rail profile measurement device, 1 more convex calibration block and 3 more plane target calibration plates are added. The convex calibration block has 3 upper surfaces, the middle upper surface is higher than the upper surfaces of the two sides, and in one embodiment, the method for adjusting the laser plane of the track profile measuring system can further comprise the following steps: according to the measuring range of the laser camera shooting assembly in the depth direction, the height difference between the middle upper surface of the convex calibration block and the left and right upper surfaces of the convex calibration block is determined, and therefore the precision and the efficiency of laser plane adjustment of the rail profile measuring system are improved. 3 planar target calibration plates are respectively placed on the 3 upper surfaces, and are sequentially marked as a calibration plate No. 1, a calibration plate No. 2 and a calibration plate No. 3 from left to right, the centers of the respective calibration plates are used as origins, the target plane is an XOY plane, and corresponding target coordinate systems tcs1, tcs2 and tcs3 are respectively established, as shown in FIG. 5.
According to the pinhole imaging model, a point (x) in the target coordinate systemtcs,ytcs,ztcs)TAnd an imaging planeInner point (u, v)TThe transformation relationship is as follows:
wherein s is a scale factor, R and t are respectively a rotation matrix and a translation vector from a camera coordinate system to a target coordinate system, belong to camera external parameters, A is a camera internal parameter matrix and comprises camera internal parameters fx,fy,u0,v0Represented by formula (2):
the camera internal parameters and the camera external parameters can be obtained by a traditional camera calibration method.
Fig. 6 is a visual adjustment flow chart of a laser plane of a rail profile measurement system, which is mainly divided into a system calibration unit (which may be an acquisition unit below), an image acquisition unit, and a coplanarity determination unit (which may be a coplanarity degree determination unit and an adjustment unit), and the specific implementation processes of each unit are respectively explained in detail below.
The system calibration unit is used for acquiring internal parameters and external parameters of the cameras, and the invention adopts a Zhang Zhen Yong calibration method to acquire plane target calibration plate images under different postures through the left camera and the right camera simultaneously to obtain the internal parameters of the left camera and the right camera.
Set up convex calibration piece and the plane target calibration board that corresponds in the working range of left and right sides laser camera subassembly, this working range can be: the convex calibration block is placed in a common view field of the left camera and the right camera, the left laser plane is ensured to be intersected with the target planes corresponding to tcs1 and tcs2, the right laser plane is ensured to be intersected with the target planes corresponding to tcs2 and tcs3, and the convex calibration block can be located in the middle of the laser camera modules on the left side and the right side and located right below the track profile measuring system. Then, the lasers on the two sides are closed, and the convex calibration block images are respectively collected by the left camera and the right camera. As shown in fig. 7A and 7B, due to occlusion,the left camera can completely shoot the No. 1 and the No. 2 calibration plates, but can only shoot the partial area of the No. 3 calibration plate, and the right camera can completely shoot the No. 2 and the No. 3 calibration plates, but can only shoot the partial area of the No. 1 calibration plate. Let the left and right camera coordinate systems be ccs1 and ccs2 respectively,
which represent the rotation matrix and translation vector of coordinate system ccs1 and coordinate system tcs1, respectively. On the premise that the internal parameters of the camera are known, based on a Zhang Zhengyou camera calibration method, rotation matrixes of left camera coordinate systems ccs1 to No. 1 and No. 2 target coordinate systems are respectively calculated through convex calibration block images
And translation vector
And rotation matrices of the right camera coordinate system ccs2 to target coordinate systems nos. 2 and 3
And translation vector
The image acquisition unit is used for acquiring the light strip image of the convex calibration block in real time in the laser plane adjustment process. Keeping the positions of the convex calibration blocks, the plane calibration plate and the cameras unchanged, opening the lasers on the two sides, adjusting the laser planes on the two sides according to actual conditions, setting proper exposure time, collecting the images of the convex calibration blocks and the light bars in real time by using the cameras on the two sides, and recording the image sequence of the convex calibration blocks and the light bars as:
I＝{Iij/i＝1,2,j＝1,2,3...n}， (3)
where i-1 denotes the convex scaled bar image captured by the left camera, i-2 denotes the convex scaled bar image captured by the right camera, and n is the number of respective bar images. The laser plane intersects the calibration plate to form a light bar, as shown in fig. 8A and 8B, for the convex calibration block light bar image collected by the left camera, the intersection lines of the left laser plane with the plane calibration plate No. 1 and the plane calibration plate No. 2 are respectively marked as l1 and l2, and for the convex calibration block light bar image collected by the right camera, the intersection lines of the right laser plane with the plane calibration plate No. 2 and the plane calibration plate No. 3 are respectively marked as r2 and r 3.
The coplanarity judging unit is used for calculating parameters of the laser planes on the left side and the right side based on the system calibration parameters and the light strip images of the convex calibration blocks so as to judge whether the laser planes on the two sides are coplanar. According to the data processing flow, the coplane judging unit is divided into 6 steps.
And step 1, extracting light bar centers of the left and right convex calibration block light bar images to obtain light bar center pixel coordinates of the left and right images. Fig. 8A and 8B are convex calibration bar images captured by two-sided cameras, including the intersection lines l1 and l2 of the left laser plane with the No. 1 and No. 2 plane calibration plates, and the intersection lines r2 and r3 of the right laser plane with the No. 2 and No. 3 plane calibration plates. Obtaining the light strip center pixel coordinates of the left and right convex calibration block light strip images by adopting a traditional light strip center extraction algorithm (such as a maximum value method, a gray scale gravity center method, a Steger method, a template matching method and the like):
Pi＝(ui,vi)T,i＝1,2 (4)
wherein, P1Any point in the center of the light bar, P, representing the left image2Any point in the center of the light bar representing the image on the right.
And 2, transforming the light bar central pixel coordinates of the left and right convex calibration block light bar images to a corresponding target coordinate system. Different calibration plates correspond to different external parameters, and the coordinate transformation process is described below by taking the convex calibration bar image photographed by the left camera in fig. 8A and 8B as an example. First, a No. 1 calibration bar l1 and a No. 2 calibration bar l2 are respectively positioned in the convex calibration bar image captured by the left-side camera in fig. 8A and 8B. Then, the light bar center pixel coordinate (u) for calibration plate No. 1i,vi)TFrom camera intrinsic and extrinsic parameters (
And
) The light bar center pixel coordinate (u) of l1 is expressed by equation (1)i,vi)TAnd transforming to a No. 1 target coordinate system. Similarly, from camera intrinsic and extrinsic parameters: (
And
) The light bar center pixel coordinate (u) of l2 is expressed by equation (1)i,vi) And transforming to a No. 2 target coordinate system. For the convex scaled bar images collected by the right camera, the bar center coordinate transformations are similar. Through the coordinate transformation, the coordinates of the intersection line l1 of the left laser plane and the No. 1 calibration plate under the No. 1 target coordinate system tcs1 are obtained
Coordinate of intersection line l2 of left laser plane and No. 2 calibration plate under No. 2 target coordinate system tcs2
Coordinate of intersection line r2 of right laser plane and No. 2 calibration plate under No. 2 target coordinate system tcs2
Coordinate of intersection line r3 of right laser plane and No. 3 calibration plate under No. 3 target coordinate system tcs3
And step 3, regarding the target coordinate system No. 2 as a world coordinate system wcs, and transforming the central coordinates of the light bars in the respective target coordinate systems into the world coordinate system through coordinate transformation. Calculating the transformation relationship of the coordinate system tcs2 and tcs1 and tcs3 by the following formula:
calculating a rotation matrix from the target coordinate system tcs2 to the target coordinate system tcs1
And translation vector
By the formula:
calculating a rotation matrix from the target coordinate system tcs2 to the target coordinate system tcs3
And translation vector
The world coordinates of the centers of the light bars on the intersecting lines l2 and r2 are the same as the coordinates in the target coordinate system, i.e., the coordinates are
For intersections l1 and r3, respectively, by the formula:
and the formula:
obtain the coordinates of two intersecting lines under a world coordinate system wcs
And
by analogy, the coordinates of the intersecting line l2 of the left laser plane and the No. 2 calibration plate under the world coordinate system wcs can be obtained
Coordinates of intersection r2 of right laser plane and No. 2 calibration plate under world coordinate system wcs
And the coordinates of the intersection r3 of the right laser plane and the No. 3 calibration plate under the world coordinate system wcs
And 4, respectively fitting planes to the two intersecting lines (l1 and l2) of the left laser plane and the two intersecting lines (r2 and r3) of the right laser plane in a world coordinate system to obtain left and right laser plane parameters (the left laser plane parameter and the right laser plane parameter). The fitting procedure is explained below, taking the two intersecting lines l1 and l2 of the left laser plane as an example. Note the book
Is any point on two intersecting lines l1 and l2 of the left laser plane and the No. 1 and No. 2 calibration plates, wherein k is m + n, and m and n are the number of points on the intersecting lines l1 and l2 respectively, and a matrix is constructed:
wherein the content of the first and second substances,
handle point
Referred to as the center of gravity of the plane. Order toS＝MTM, obviously S has three eigenvalues, the eigenvector corresponding to the minimum eigenvalue is the normal n of the fitting planel. By point
A point on a plane, vector nlThe left laser plane is constructed for the plane normal. Similarly, a plane is fitted to the two intersecting lines r2 and r3 of the right laser plane to obtain the normal n of the right laser planerAnd the right laser plane can be constructed.
And 5, calculating the normal included angle alpha and the plane distance d of the left and right fitting planes (the left fitting plane and the right fitting plane). The plane normal angle α can be represented by the formula:
thus obtaining the product. In order to calculate the distance between the two planes, a plane coordinate system pcs1 and pcs2 are established with the center of gravity of the fitted planes on the left and right sides as the origin and the normal direction as the Z axis, respectively, wherein the rotation of the coordinate system around the Z axis does not affect the direction of the plane normal under the plane coordinate system, and the rotation amount around the Z axis is set to 0 for simplicity. The rotation matrix and the translation vector from the plane coordinate system pcs1 to the world coordinate system wcs are recorded as
And
the rotation matrix and translation vector from the world coordinate system wcs to the planar coordinate system pcs2 are
And
constructing corresponding homogeneous transformation matrices
And
then the homogeneous transformation matrix for coordinate systems pcs1 and pcs2 can be expressed as:
thus, for any point P within the coordinate system pcs2pcs2＝(xpcs2,ypcs2,zpcs2)TThe formula can be represented as follows:
transformation to the coordinate System pcs1, where Ppcs1＝(xpcs1,ypcs1,zpcs1)TThe corresponding coordinates of the point in the pcs1 coordinate system are shown. Randomly taking N points in the right laser plane:
this is transformed by equation (9) to the coordinate system pcs1, resulting in:
since the left fitting plane coincides with the XOY plane of the coordinate system pcs1, the left fitting plane, therefore,
that is, the distances of the N points to the plane 1, the distance d from the plane 2 to the plane 1 can be expressed as:
and 6, judging whether the laser planes on the two sides are coplanar or not according to the normal included angle and the plane distance. If the included angle between the two planes is 0, the two planes are parallel or coincident, and if the distance from any point on one plane to the other plane is 0, the two planes are coincident. In order to eliminate the influence of errors, two parameters, namely a plane normal included angle alpha and a plane distance d, are adopted to jointly judge whether the laser planes on the two sides are coplanar, and if the plane normal included angle alpha and the plane distance satisfy the following formula:
d≤Tdand alpha is less than or equal to T alpha (16)
The contact ratio of the left laser plane and the right laser plane is higher, and the laser planes at the two sides of the steel rail are considered to be adjusted in place, wherein Td,TαThe judgment threshold value of the plane distance d and the judgment threshold value of the plane normal included angle alpha are respectively represented, and the threshold value can be determined according to the precision requirement.
As can be seen from the above, in one embodiment, the parameters of the laser planes on the left and right sides are determined according to the internal parameters and the external parameters of the cameras in the laser camera assemblies on the left and right sides and the light strip images of the convex calibration blocks; determining the coplanarity degree of the left and right laser planes according to the left and right laser plane parameters, which may include:
extracting light bar centers of the left and right convex calibration block light bar images to obtain light bar center pixel coordinates of the left and right convex calibration block light bar images;
according to internal parameters and external parameters of cameras in the laser camera shooting assemblies at the left side and the right side, light strip center pixel coordinates of light strip images of the left convex calibration block and the right convex calibration block are transformed to a corresponding target coordinate system;
any target coordinate system is taken as a world coordinate system, and the light bar center coordinates under the target coordinate system are transformed to the world coordinate system through coordinate transformation;
respectively fitting planes to two intersecting lines of the left laser plane and two intersecting lines of the right laser plane in a world coordinate system to obtain left and right laser plane parameters;
calculating the normal line included angle and the plane distance of the fitting planes on the left side and the right side according to the parameters of the laser planes on the left side and the right side;
and determining the coplanarity degree of the laser planes on the left side and the right side according to the normal included angle and the plane distance.
In specific implementation, the implementation mode of determining the coplanarity degree of the laser planes on the left side and the right side further improves the efficiency and the accuracy of laser plane adjustment of the rail profile measuring system.
In an embodiment, the method for adjusting the laser plane of the track profile measuring system may further include: displaying the laser planes on the left side and the right side in real time to obtain a real-time display result;
according to the coplane degree on left and right sides laser plane, the position of the laser instrument in the subassembly of making a video recording of adjustment left and right sides laser can include: and adjusting the positions of the lasers in the laser camera assemblies on the left side and the right side according to the coplanarity degree and the real-time display result of the laser planes on the left side and the right side.
In the specific implementation process, the left camera and the right camera acquire the convex calibration block light strip images in real time in the laser plane adjustment process to obtain a convex calibration block light strip image sequence as shown in formula (3). Then, the coplane judging unit processes the image sequence of the convex calibration block light strip in real time, calculates the parameters of the laser planes on the two sides of the steel rail, draws the laser planes on the two sides in real time on a display window according to the parameters of the laser planes on the two sides, displays the clip angle and the plane distance of the method, and judges whether the laser planes on the two sides of the steel rail are adjusted in place according to the formula (16), so that the visual adjustment of the laser planes on the two sides of the steel rail contour measuring system is realized, the efficiency, the accuracy and the convenience are high, and the.
In addition, the 3 planar target calibration plates can be selected from circular lattices and also can be selected from checkerboards, as shown in fig. 10.
Or only one 2-plane target calibration plate can be placed on the convex calibration block, and the 1-plane target calibration plate and the 3-plane target calibration plate are cancelled, at this time, corresponding temporary coordinate systems tcs1 and tcs3 are directly established on the upper surface of the convex calibration block on which the calibration plate is not placed, and a target coordinate system tcs2 is established on the 2-plane target calibration plate, only unknown parameters in a rotation matrix and a translation vector of the target coordinate system tcs2 and the two temporary coordinate systems tcs1 and tcs3 need to be calibrated in advance, and then the next process in the text is referred to.
In addition, for convenience of understanding, the following will be described with respect to the noun explanations of terms related to the following embodiments of the present invention:
rotation matrix of coordinate system C1 to coordinate system C2
And translation vector
Can be expressed as:
wherein the content of the first and second substances,
rotation matrix
And translation vector
Representing the coordinate system c1 first passing through a translation vector
Translating the coordinate system c1 to a coordinate system c2 to obtain a temporary coordinate system t1, wherein the origins of t1 and c2 of the coordinate systems coincide, then, the X-axis rotation angle alpha of the coordinate system t1 around t1 is used to obtain a temporary coordinate system t2, and then, the Y-axis rotation angle of the coordinate system t2 around t2 is used to obtain a temporary coordinate system t2β results in a temporary coordinate system t3, then coordinate system t3 is rotated by an angle γ around the Z axis of t3, and finally coordinate system c2 is obtained.
The method for adjusting the laser plane of the rail profile measuring system provided by the embodiment of the invention is characterized by comprising the following steps:
1) in the laser plane adjusting process of a line laser of the steel rail outline measuring system, laser plane parameters on two sides of a steel rail are obtained in real time through the convex calibration block and the 3 plane calibration plates, and two laser planes are displayed in a program window in real time, so that the real-time visual adjustment of the laser plane of the steel rail outline measuring system is realized.
2) And calculating the normal line included angle and the plane distance of the two laser planes, evaluating the contact ratio of the laser planes on the two sides of the steel rail through the normal line included angle and the plane distance, and judging whether the laser planes on the two sides of the steel rail are adjusted in place or not.
3) And (3) laser plane fitting method.
4) A convex calibration block and 3 planar calibration plates.
The embodiment of the invention also provides a laser plane adjusting device of the steel rail profile measuring system, which is described in the following embodiment. Because the principle of solving the problems of the device is similar to the laser plane adjusting method of the steel rail profile measuring system, the implementation of the device can refer to the implementation of the laser plane adjusting method of the steel rail profile measuring system, and repeated parts are not described again.
Fig. 12 is a schematic view of a laser plane adjustment device of a rail profile measuring system according to an embodiment of the present invention, as shown in fig. 12, the device includes:
the acquisition unit 01 is used for acquiring internal parameters and external parameters of cameras in the laser camera shooting assemblies on the left side and the right side in the rail profile measuring system;
the image acquisition unit 02 is used for acquiring light bar images of the convex calibration blocks; a planar target calibration plate is respectively arranged on the three upper surfaces of the convex calibration block, and a plurality of uniformly distributed marker points are arranged on each planar target calibration plate; the convex calibration block and the corresponding plane target calibration plate are arranged in the working range of the laser camera components at the left side and the right side;
the coplanarity degree determining unit 03 is used for determining laser plane parameters on the left side and the right side according to internal parameters and external parameters of cameras in the laser camera shooting assemblies on the left side and the right side and light strip images of the convex calibration blocks; determining the coplanarity degree of the laser planes on the left side and the right side according to the parameters of the laser planes on the left side and the right side;
and the adjusting unit 04 is used for adjusting the positions of the lasers in the laser camera assemblies on the left side and the right side according to the coplanarity degree of the laser planes on the two sides.
In one embodiment, the coplanarity degree determination unit is specifically configured to:
extracting light bar centers of the left and right convex calibration block light bar images to obtain light bar center pixel coordinates of the left and right convex calibration block light bar images;
according to internal parameters and external parameters of cameras in the laser camera shooting assemblies at the left side and the right side, light strip center pixel coordinates of light strip images of the left convex calibration block and the right convex calibration block are transformed to a corresponding target coordinate system;
any target coordinate system is taken as a world coordinate system, and the light bar center coordinates under the target coordinate system are transformed to the world coordinate system through coordinate transformation;
respectively fitting planes to two intersecting lines of the left laser plane and two intersecting lines of the right laser plane in a world coordinate system to obtain left and right laser plane parameters;
calculating the normal line included angle and the plane distance of the fitting planes on the left side and the right side according to the parameters of the laser planes on the left side and the right side;
and determining the coplanarity degree of the laser planes on the left side and the right side according to the normal included angle and the plane distance.
In one embodiment, the above-mentioned laser plane adjusting device of the rail profile measuring system may further include: and the height difference determining unit is used for determining the height difference between the middle upper surface of the convex calibration block and the two upper surfaces at the left and right sides of the convex calibration block according to the measuring range of the laser camera shooting assembly in the depth direction.
In one embodiment, the above-mentioned laser plane adjusting device of the rail profile measuring system may further include: the real-time display unit is used for displaying the laser planes on the left side and the right side in real time to obtain a real-time display result;
the adjusting unit is specifically configured to: and adjusting the positions of the lasers in the laser camera assemblies on the left side and the right side according to the coplanarity degree and the real-time display result of the laser planes on the left side and the right side.
The embodiment of the invention also provides computer equipment which comprises a memory, a processor and a computer program which is stored on the memory and can be run on the processor, wherein when the processor executes the computer program, the laser plane adjustment method of the track profile measurement system is realized.
An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program for executing the above method for adjusting the laser plane of the track profile measuring system is stored.
In summary, in the prior art, whether the laser planes on the two sides meet the coplanar installation requirement is judged by observing the coincidence degree of the intersection line of the laser planes on the two sides and the scale line of the calibration plate by naked eyes, and the method cannot acquire the parameters of the laser planes on the two sides in real time, is easily influenced by subjective factors, and has low accuracy. Therefore, the rail profile measuring system provided by the embodiment of the invention has the advantages of laser plane adjustment: the invention provides a visual adjusting method and a visual adjusting device for a laser plane of a steel rail profile measuring system. The method is simple to operate, the laser plane adjusting process is visualized, the coplanarity judging standard is not influenced by artificial subjective factors, and the method has the advantages of being strong in real-time performance and high in accuracy.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for adjusting a laser plane of a rail profile measuring system is characterized by comprising the following steps:
acquiring internal parameters and external parameters of cameras in laser camera modules on the left side and the right side in a rail profile measuring system;
acquiring a light strip image of the convex calibration block; a planar target calibration plate is respectively arranged on the three upper surfaces of the convex calibration block, and a plurality of uniformly distributed marker points are arranged on each planar target calibration plate; the convex calibration block and the corresponding plane target calibration plate are arranged in the working range of the laser camera components at the left side and the right side;
determining laser plane parameters of the left side and the right side according to internal parameters and external parameters of cameras in the laser camera shooting assemblies of the left side and the right side and light strip images of the convex calibration blocks; determining the coplanarity degree of the laser planes on the left side and the right side according to the parameters of the laser planes on the left side and the right side;
and adjusting the positions of the lasers in the laser camera assemblies on the left side and the right side according to the coplanarity degree of the laser planes on the two sides.
2. The method for adjusting the laser plane of the track profile measuring system according to claim 1, wherein the parameters of the laser plane on the left side and the right side are determined according to the internal parameters and the external parameters of the cameras in the laser camera assemblies on the left side and the right side and the light bar image of the convex calibration block; according to the parameters of the laser planes on the left side and the right side, determining the coplanarity degree of the laser planes on the left side and the right side, comprising the following steps:
extracting light bar centers of the left and right convex calibration block light bar images to obtain light bar center pixel coordinates of the left and right convex calibration block light bar images;
according to internal parameters and external parameters of cameras in the laser camera shooting assemblies at the left side and the right side, light strip center pixel coordinates of light strip images of the left convex calibration block and the right convex calibration block are transformed to a corresponding target coordinate system;
any target coordinate system is taken as a world coordinate system, and the light bar center coordinates under the target coordinate system are transformed to the world coordinate system through coordinate transformation;
respectively fitting planes to two intersecting lines of the left laser plane and two intersecting lines of the right laser plane in a world coordinate system to obtain left and right laser plane parameters;
calculating the normal line included angle and the plane distance of the fitting planes on the left side and the right side according to the parameters of the laser planes on the left side and the right side;
and determining the coplanarity degree of the laser planes on the left side and the right side according to the normal included angle and the plane distance.
3. The method for adjusting the laser plane of a track profile measuring system according to claim 1, further comprising: and determining the height difference between the middle upper surface of the convex calibration block and the left and right upper surfaces of the convex calibration block according to the measuring range of the laser camera shooting assembly in the depth direction.
4. The method for adjusting the laser plane of a track profile measuring system according to claim 1, further comprising: displaying the laser planes on the left side and the right side in real time to obtain a real-time display result;
according to the coplane degree on left and right sides laser plane, the position of the laser instrument in the subassembly of making a video recording of adjustment left and right sides laser includes: and adjusting the positions of the lasers in the laser camera assemblies on the left side and the right side according to the coplanarity degree and the real-time display result of the laser planes on the left side and the right side.
5. A rail profile measurement system laser plane adjusting device, characterized by comprising:
the acquisition unit is used for acquiring internal parameters and external parameters of cameras in the laser camera shooting assemblies on the left side and the right side in the rail profile measuring system;
the image acquisition unit is used for acquiring the light strip image of the convex calibration block; a planar target calibration plate is respectively arranged on the three upper surfaces of the convex calibration block, and a plurality of uniformly distributed marker points are arranged on each planar target calibration plate; the convex calibration block and the corresponding plane target calibration plate are arranged in the working range of the laser camera components at the left side and the right side;
the coplanarity degree determining unit is used for determining laser plane parameters on the left side and the right side according to internal parameters and external parameters of cameras in the laser camera shooting assemblies on the left side and the right side and light strip images of the convex calibration blocks; determining the coplanarity degree of the laser planes on the left side and the right side according to the parameters of the laser planes on the left side and the right side;
and the adjusting unit is used for adjusting the positions of the lasers in the laser camera assemblies on the left side and the right side according to the coplanarity degree of the laser planes on the two sides.
6. The laser plane adjustment device of the rail profile measuring system according to claim 5, wherein the coplanarity degree determination unit is specifically configured to:
extracting light bar centers of the left and right convex calibration block light bar images to obtain light bar center pixel coordinates of the left and right convex calibration block light bar images;
according to internal parameters and external parameters of cameras in the laser camera shooting assemblies at the left side and the right side, light strip center pixel coordinates of light strip images of the left convex calibration block and the right convex calibration block are transformed to a corresponding target coordinate system;
any target coordinate system is taken as a world coordinate system, and the light bar center coordinates under the target coordinate system are transformed to the world coordinate system through coordinate transformation;
respectively fitting planes to two intersecting lines of the left laser plane and two intersecting lines of the right laser plane in a world coordinate system to obtain left and right laser plane parameters;
calculating the normal line included angle and the plane distance of the fitting planes on the left side and the right side according to the parameters of the laser planes on the left side and the right side;
and determining the coplanarity degree of the laser planes on the left side and the right side according to the normal included angle and the plane distance.
7. The laser plane adjustment apparatus of a rail profile measuring system according to claim 5, further comprising: and the height difference determining unit is used for determining the height difference between the middle upper surface of the convex calibration block and the two upper surfaces at the left and right sides of the convex calibration block according to the measuring range of the laser camera shooting assembly in the depth direction.
8. The laser plane adjustment apparatus of a rail profile measuring system according to claim 5, further comprising: the real-time display unit is used for displaying the laser planes on the left side and the right side in real time to obtain a real-time display result;
the adjusting unit is specifically configured to: and adjusting the positions of the lasers in the laser camera assemblies on the left side and the right side according to the coplanarity degree and the real-time display result of the laser planes on the left side and the right side.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the method of any one of claims 1 to 4.
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