CN112902878A - Method and device for adjusting laser plane of track geometry detection system - Google Patents
Method and device for adjusting laser plane of track geometry detection system Download PDFInfo
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Abstract
The invention discloses a method and a device for adjusting a laser plane of a track geometry detection system, wherein the method comprises the following steps: acquiring internal parameters and external parameters of cameras in laser camera components on the left side and the right side in a track geometry detection system; acquiring light bar images of two L-shaped calibration blocks on the left side and the right side; a plane target calibration plate is respectively arranged on the two upper surfaces of each L-shaped calibration block, a plurality of uniformly distributed marker points are arranged on each calibration plate, and the two L-shaped calibration blocks and the corresponding calibration plates are arranged in the working range of the laser camera components on 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 images of the two L-shaped calibration blocks on the left side and the right side, and further determining the coplanarity degree 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 invention can realize the rapid and accurate adjustment of the laser planes on the left side and the right side of the track geometry detection system to be coplanar.
Description
Technical Field
The invention relates to the technical field of track detection, in particular to a method and a device for adjusting a laser plane of a track geometry detection 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 track geometry measuring system, the coplanarity degree of the left and right laser planes is an important factor influencing the track geometry measuring accuracy. When the two laser planes are not coplanar, the measurement profile can generate certain distortion to cause measurement error, and therefore, in order to ensure the accuracy of the geometric measurement result of the track, the two laser planes should be installed in a coplanar manner. At present, in the installation and adjustment process of the two-side laser planes, an effective method is not provided for judging whether the two-side lasers meet the installation requirement of coplanarity, so how to evaluate the coplanarity degree of the two-side lasers to quickly and accurately adjust the installation positions of the two-side lasers, and further adjust the laser planes.
Disclosure of Invention
The embodiment of the invention provides a laser plane adjusting method of a track geometry detection system, which is used for quickly and accurately adjusting laser planes on the left side and the right side of the track geometry detection system to be coplanar, and comprises the following steps:
acquiring internal parameters and external parameters of cameras in laser camera components on the left side and the right side in a track geometry detection system;
acquiring light bar images of two L-shaped calibration blocks on the left side and the right side; two upper surfaces of each L-shaped calibration block are respectively provided with a plane target calibration plate, each plane target calibration plate is provided with a plurality of uniformly distributed marker points, and the two L-shaped calibration blocks and the corresponding plane target calibration plates are arranged in the working ranges 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 two L-shaped calibration blocks of the left side and the right side; 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 the track geometry detection system, which is used for quickly and accurately adjusting the laser planes on the left side and the right side of the track geometry detection system to be coplanar, and the device comprises:
the acquisition unit is used for acquiring internal parameters and external parameters of cameras in the left and right laser camera shooting assemblies in the track geometry detection system;
the image acquisition unit is used for acquiring light strip images of the left and right L-shaped calibration blocks; two upper surfaces of each L-shaped calibration block are respectively provided with a plane target calibration plate, each plane target calibration plate is provided with a plurality of uniformly distributed marker points, and the two L-shaped calibration blocks and the corresponding plane target calibration plates are arranged in the working ranges 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 two L-shaped calibration blocks on the left side and the right side; 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 run on the processor, wherein when the processor executes the computer program, the laser plane adjustment method of the track geometry detection system is realized.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program for executing the laser plane adjustment method of the track geometry detection system is stored in the computer-readable storage medium.
In the embodiment of the invention, the laser plane adjustment scheme of the track geometry detection system comprises the following steps: acquiring internal parameters and external parameters of cameras in laser camera components on the left side and the right side in a track geometry detection system; acquiring light bar images of two L-shaped calibration blocks on the left side and the right side; two upper surfaces of each L-shaped calibration block are respectively provided with a plane target calibration plate, each plane target calibration plate is provided with a plurality of uniformly distributed marker points, and the two L-shaped calibration blocks and the corresponding plane target calibration plates are arranged in the working ranges 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 two L-shaped calibration blocks of the left side and the right side; 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; according to the coplanarity degree of the laser planes on the two sides, the positions of the lasers in the laser camera assemblies on the left side and the right side are adjusted, and the laser planes on the left side and the right side of the track geometry detection system can be quickly and accurately adjusted 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 track geometry measurement system in an embodiment of the present invention;
FIG. 2 is a schematic view of a prior art aluminum alloy straightedge;
FIGS. 3A and 3B are schematic diagrams of a two-sided laser plane adjustment method of the prior art; wherein, fig. 3A is a schematic diagram of the intersection line of the laser planes at the two sides coinciding with the scale mark, and fig. 3B is a schematic diagram of the intersection line of the laser planes at the two sides not coinciding with the scale mark;
FIG. 4 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. 5 is a schematic position diagram of an L-shaped calibration block and a planar target calibration plate according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a system for track geometry measurement and laser plane adjustment according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a coordinate system of a track geometry measuring and laser plane adjusting system according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a visual adjustment of a laser plane of a track geometry measurement system according to an embodiment of the present invention;
FIG. 9A is a top view of a tailored target in an embodiment of the invention, and FIG. 9B is a side view of a tailored target in an embodiment of the invention;
FIG. 10 is a schematic diagram of a calibration apparatus for coordinate systems of two cameras according to an embodiment of the present invention;
FIGS. 11A and 11B are L-shaped calibration block images captured by two cameras according to an embodiment of the present invention; wherein, fig. 11A is an L-shaped calibration block image collected by the left camera, and fig. 11B is an L-shaped calibration block image collected by the right camera;
12A and 12B are light bar images of L-shaped calibration blocks collected by two side cameras in an embodiment of the invention; fig. 12A is a light stripe image of an L-shaped calibration block collected by a left camera, and fig. 12B is a light stripe image of an L-shaped calibration block collected by a right camera;
FIG. 13 is a schematic view of the visual adjustment of the laser planes on both sides of the steel rail in the embodiment of the invention;
FIG. 14 is a schematic view of a checkerboard plane target in another embodiment of the present invention;
FIG. 15 is a schematic diagram of a laser plane adjustment method for a track geometry inspection system according to an embodiment of the present invention;
fig. 16 is a schematic view of a laser plane adjustment device of a track geometry detection 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 track geometry detection technology can measure various types of geometric irregularity parameters such as track gauge, track direction, height, level, triangular pits and the like in real time, has the characteristics of good stability, high repeatability, strong accuracy and the like, and is widely used for daily detection of the existing railway and joint debugging joint test of newly-built railways in China. Fig. 1 is a schematic diagram of a track geometry measurement (in fig. 1, 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, 4 is an inertia measurement unit, and 5 is a detection beam), 1 set of laser camera modules is composed of 1 camera and 1 line laser, and 1 set of laser camera modules is respectively arranged above two strands of steel rails. In the two sets of laser camera shooting assemblies, a laser plane sent by the line laser is perpendicular to the longitudinal direction of the steel rail, the camera shoots the steel rail at a certain angle to obtain a steel rail laser section image, the semi-section profiles of the left steel rail and the right steel rail are obtained through light bar center extraction and data calibration, further the transverse displacement and the vertical displacement of the steel rail relative to the detection beam can be obtained, the transverse displacement is used for synthesizing the rail distance, and the data obtained by combining the transverse displacement and the vertical displacement with the inertial measurement unit can be used for synthesizing the rail direction and height. Therefore, the accuracy of the measurement result of the laser camera assembly directly influences the final track geometric measurement precision. For the laser camera shooting assembly, when the laser planes on the two sides are not coplanar, the measurement profile can generate certain distortion, so that the measurement result of the laser camera shooting assembly is deviated, and therefore, in order to ensure the accuracy of the geometric measurement result of the track, the laser planes on the two sides are installed in a coplanar manner.
Aiming at the laser plane adjustment of the track geometry detection system, the inventor finds a technical problem that:
at present, whether laser on two sides is coplanar or not is judged by adopting the aluminum alloy ruler, as shown in fig. 2, 3 straight lines and corresponding scale marks are arranged on the surface of the aluminum alloy ruler, the aluminum alloy ruler is clamped on the inner sides of two rails, laser planes on two sides are respectively intersected with the surface of the aluminum alloy ruler to form two laser lines, and whether the laser planes on two sides meet the coplanar installation requirement or not is judged by observing the coincidence degree of the two laser lines and the scale marks of a calibration plate through naked eyes. Fig. 3A and 3B are schematic diagrams of a two-side laser plane adjustment method in the prior art, and if two laser lines coincide with scale lines, the two laser lines show that the left and right sides are coplanar and are vertical to the longitudinal direction of the steel rail. If the two laser lines are not coincident with the scale marks, the installation positions of the lasers on the two sides are continuously adjusted until the two laser lines are coincident.
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 prior art has the following defects in 3 aspects.
(1) The parameters of the laser planes on the two sides cannot be obtained in real time, and important parameters for judging the positions of the two space planes are lacked, so that whether the two planes are coplanar cannot be accurately judged. Obviously, the existing method only can roughly judge whether the laser planes on the two sides are coplanar or not by observing the position of the laser line by naked eyes, but cannot accurately judge whether the laser planes on the two sides are coplanar or not.
(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. 4, 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.
Just because the invention finds the technical problems, the inventor provides a visual adjustment scheme of a laser plane of a track geometry measurement system, which comprises the following steps: the method comprises the steps of firstly obtaining internal and external parameters of a camera based on a traditional camera calibration method, then calibrating a transformation relation of a left camera coordinate system and a right camera coordinate system through a special target, obtaining parameters of a left laser plane and a right laser plane in real time through an L-shaped calibration block on the basis, displaying the laser planes on two sides under the same coordinate system by utilizing the transformation relation of the left camera coordinate system and the right camera coordinate system, displaying the left plane and the right plane in real time through a program window, simultaneously calculating a normal line included angle and a plane distance of the two planes, and guiding the adjustment operation of the laser planes by taking the normal line included angle and the plane distance of the two planes. 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 strong real-time performance and high accuracy. The following describes a detailed adjustment scheme for visualizing the laser plane of the track geometry measuring system.
Fig. 15 is a schematic diagram of a laser plane adjustment method of a track geometry detection system according to an embodiment of the present invention, as shown in fig. 15, the method includes the following steps:
step 101: acquiring internal parameters and external parameters of cameras in laser camera components on the left side and the right side in a track geometry detection system;
step 102: acquiring light bar images of two L-shaped calibration blocks on the left side and the right side; two upper surfaces of each L-shaped calibration block are respectively provided with a plane target calibration plate, each plane target calibration plate is provided with a plurality of uniformly distributed marker points, and the two L-shaped calibration blocks and the corresponding plane target calibration plates are arranged in the working ranges 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 two L-shaped calibration blocks of the left side and the right side; 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 laser plane adjusting method of the track geometry detecting system in the embodiment of the invention can realize that the laser planes on the left side and the right side of the track geometry detecting system can be quickly and accurately adjusted to be coplanar.
Fig. 5 shows the L-shaped calibration blocks used in the present invention, which have two upper surfaces, and the height difference between the two upper surfaces is related to the range of the laser camera assembly in the depth direction, which is generally 2/3. 2 planar target calibration plates are respectively placed on the upper surface of the L-shaped calibration block, and each planar target calibration plate consists of 7 multiplied by 7 black circular feature points. Fig. 6 is a visual adjusting device of track geometry measurement system laser plane, compares with current track geometry measurement system, has more 2L-shaped calibration blocks and 4 plane target calibration boards, places 2L-shaped calibration blocks and the plane calibration board that corresponds respectively in the working range of controlling laser camera shooting subassembly, and this working range can be: the left side camera can shoot complete left side plane calibration plate image, and the right side camera can shoot complete right side plane calibration plate image, and the low one end of two L shape calibration blocks sets up relatively, can set up under the subassembly of making a video recording of laser. Fig. 7 is a schematic coordinate system diagram of a laser plane visualization adjusting device of a track geometry measuring system, ccs1 and ccs2 respectively represent left and right camera coordinate systems, plane calibration plates of two L-shaped calibration blocks are sequentially marked as No. 1, No. 2, No. 3 and No. 4 calibration plates from left to right, centers of the respective calibration plates are used as origins, a target plane is an XOY plane, and corresponding target coordinate systems tcs1, tcs2, tcs3 and tcs4 are respectively established.
According to the pinhole imaging model, a point (x) in the target coordinate systemtcs,ytcs,ztcs)TAnd a point in the imaging plane (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. 8 is a flow chart of a principle of visual adjustment of a laser plane of a track geometry measuring system, which is mainly divided into a system calibration unit, an image acquisition unit and a coplanarity determination unit, and the specific implementation processes of the units are respectively explained in detail below.
The system calibration unit (which may be the acquisition unit hereinafter) is operative to acquire camera intrinsic parameters and extrinsic parameters. Wherein the extrinsic parameters include transformation relation (i.e. rotation matrix) of coordinate systems of two-sided cameras
And translation vector
) Transformation of the left camera coordinate system to the target coordinate systems No. 1 and No. 2 (i.e. rotation matrix)
And translation vector
) And the transformation relationship (i.e., rotation matrix) of the right camera coordinate system to the target coordinate systems No. 3 and No. 4
And translation vector
)。
The embodiment of the invention can adopt a traditional calibration method, and the left camera and the right camera simultaneously acquire the images of the plane target calibration plate under different postures to obtain the internal parameters of the left camera and the right camera. For the calibration of external parameters, the method mainly comprises 2 steps.
Step 1, calibrating the transformation relation of the coordinate systems of the cameras on the two sides. In order to obtain the transformation relation of the coordinate systems of the two cameras, a specially-made calibration target is designed, as shown in fig. 9A and 9B (8 in fig. 9A and 9B is a connecting rod, 9-1 is a left plane calibration plate, and 9-2 is a right plane calibration plate), and the target rigidly connects the two plane calibration plates 9-1 and 9-2 through the connecting rod 8. As shown in fig. 10, the tailored target is placed in the working range of the track geometry detecting device, so that the left camera can shoot a 9-1 plane calibration board, the right camera can shoot a 9-2 plane calibration board, the left and right cameras simultaneously acquire calibration board images of the tailored target in different postures, a nonlinear optimization objective function is constructed by utilizing the rule that the distance between the feature point pairs of the left and right plane calibration boards is unchanged in the moving or rotating process of the tailored target, and the transformation relation (namely, the rotation matrix) of the coordinate systems of the left and right cameras is solved by nonlinear optimization (namely, the rotation matrix is constructed)
And translation vector
)。
And step 2, calibrating the transformation relation between the coordinate systems of the cameras on the two sides and the corresponding target coordinate system. For convenience of description, the laser plane of the left line laser is simply referred to as the left laser plane, and the laser plane of the right line laser is simply referred to as the right laser plane. Firstly, according to fig. 6, 2L-shaped calibration blocks are respectively placed in the view fields of the left camera and the right camera, and the left laser plane is ensured to be intersected with the calibration plates No. 1 and No. 2, the right laser plane is intersected with the calibration plates No. 3 and No. 4, then the lasers on both sides are closed, and the left camera and the right camera are used for respectively collecting images of the L-shaped calibration blocks, and the results are shown in fig. 11A and fig. 11B. On the premise that the internal parameters of the camera are known, based on the existing camera calibration method, rotation matrixes of the left camera coordinate system ccs1 to the target coordinate system nos. 1 and 2 are respectively calculated through the images of the plane calibration plate
And translation vector
And rotation matrices of the right camera coordinate system ccs2 to target coordinate systems nos. 3 and 4
And translation vector
The image acquisition unit is used for acquiring light strip images of the L-shaped calibration blocks (images of the plane target calibration plate on two upper surfaces of each L-shaped calibration block) in real time in the laser plane adjustment process. Keeping the positions of the L-shaped calibration block, the plane calibration plate and the camera unchanged, opening the lasers on the two sides, adjusting the laser planes on the two sides according to actual conditions, setting proper exposure time, acquiring light strip images of the corresponding L-shaped calibration block in real time by utilizing the cameras on the two sides, and recording the sequence of the light strip images of the L-shaped calibration block as:
I＝{Iij/i＝1,2,j＝1,2,3...n}， (3)
wherein, i-1 denotes the L-shaped calibration block light bar image collected by the left camera, i-2 denotes the L-shaped calibration block light bar image collected by the right camera, j is the light bar image index, and n is the number of light bar images. As shown in fig. 12A and 12B, for the L-shaped calibration block light stripe image collected by the left camera, the intersection lines of the left laser plane and the No. 1 plane calibration plate and the No. 2 plane calibration plate are respectively marked as L1 and L2, and for the L-shaped calibration block light stripe image collected by the right camera, the intersection lines of the right laser plane and the No. 3 plane calibration plate and the No. 4 plane calibration plate are respectively marked as r3 and r 4.
The coplanarity judging unit (which may include the following coplanarity degree determining unit and adjusting unit) is configured to calculate left and right laser plane parameters (left laser plane parameter and right laser plane parameter) based on the system calibration parameter and the L-shaped calibration block light bar image, and further judge whether the left and right laser planes (left laser plane and right laser plane) are coplanar. According to the data processing flow, the coplane judging unit is divided into 6 steps.
Step 1, extracting light strip centers of the left and right L-shaped calibration block light strip images to obtain light strip center pixel coordinates of the left and right images. Obtaining the light strip center pixel coordinates of the left and right L-shaped 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 L-shaped calibration block light bar images to a corresponding target coordinate system. Taking the L-shaped calibration block light bar image taken by the left camera in fig. 11A as an example,a coordinate transformation process is set forth. First, a calibration bar 1L 1 and a calibration bar 2L 2 are respectively positioned in the L-shaped calibration block bar image captured by the left camera in fig. 11A. Then, from camera intrinsic parameters and extrinsic parameters: (
And
) The pixel coordinate (u) of any point on 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 pixel coordinate (u) of any point on l2 is expressed by equation (1)i,vi) And transforming to a No. 2 target coordinate system. For the L-shaped calibration block light bar image collected by the right camera, the light bar center coordinate transformation is similar. Through the coordinate transformation, the coordinate of any point on the intersecting line l1 of the left laser plane and the No. 1 calibration plate under the No. 1 target coordinate system tcs1 is obtained
Coordinates of any point on an intersecting line l2 of the left laser plane and the No. 2 calibration plate under the No. 2 target coordinate system tcs2
Coordinates of any point on an intersection line r3 of the right laser plane and the No. 3 calibration plate under the No. 3 target coordinate system tcs3
Coordinates of any point on an intersection line r4 of the right laser plane and the No. 4 calibration plate under the No. 4 target coordinate system tcs4
And step 3, with the target coordinate system No. 2 as a world coordinate system wcs, transforming the central coordinates of the light bars in the respective target coordinate systems into the world coordinate system through coordinate transformation.
For the intersection l1, first by the formula:
calculating a rotation matrix from coordinate system tcs2 to coordinate system tcs1
And translation vector
Then, by the formula:
transforming the coordinate of any point on the intersecting line l1 under the target coordinate system to the world coordinate system to obtain
For the intersecting line l2, the coordinates of any point on it in the world coordinate system
For the intersection r3, first by the formula:
calculating a rotation matrix from coordinate system tcs2 to coordinate system tcs3
And a translational motionMeasurement of
Then, by the formula:
transforming the coordinates of any point on the intersection line r3 under the target coordinate system to the world coordinate system to obtain
For the intersection r4, first by the formula:
calculating a rotation matrix from coordinate system tcs2 to coordinate system tcs4
And translation vector
Then, by the formula:
transforming the coordinates of any point on the intersection line r4 under the target coordinate system to the world coordinate system to obtain
And 4, respectively fitting a plane to the two intersecting lines (l1 and l2) of the left laser plane and the two intersecting lines (r3 and r4) of the right laser plane in a world coordinate system to obtain left and right laser plane parameters. 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. Let S be 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 r3 and r4 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. Recording the plane coordinate system pcs1 toThe rotation matrix and translation vector of world coordinate system wcs are
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:
in one embodiment, acquiring internal parameters of cameras in left and right laser camera assemblies in the track geometry detection system may include: calibrating the transformation relation between camera coordinate systems in the left and right laser camera assemblies in the track geometry detection system:
according to the internal parameters and the external parameters of the cameras in the left and right laser camera shooting assemblies and the light strip images of the left and right L-shaped calibration blocks, the parameters of the left and right laser planes are determined, and the method can comprise the following steps: the parameters of the left and right laser planes are obtained in real time through the L-shaped calibration block, and the laser planes on the two sides are shown in the same coordinate system by utilizing the transformation relation of the coordinate systems of the left and right cameras.
In specific implementation, the transformation relation of the coordinate systems of the left camera and the right camera is calibrated through the special target, on the basis, the parameters of the laser planes on the left side and the right side are obtained in real time through the L-shaped calibration block, and the laser planes on the two sides are shown under the same coordinate system by utilizing the transformation relation of the coordinate systems of the left camera and the right camera, so that the coplanarity degree of the laser planes on the two sides can be accurately judged, and the accuracy of laser plane adjustment of the track geometry measuring system is further improved.
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 Tα (18)
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.
That is, according to the above description, in one embodiment, the left and right laser plane parameters are determined according to the internal parameters and external parameters of the cameras in the left and right laser camera modules and the light bar images of the left and right L-shaped 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 strip centers of the light strip images of the left and right L-shaped calibration blocks to obtain light strip center pixel coordinates of the light strip images of the left and right L-shaped calibration blocks;
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 two L-shaped calibration blocks at the left side and the right side are transformed to be under corresponding target coordinate systems;
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 under a world coordinate system to obtain left and right laser plane parameters;
calculating the normal line included angle and the plane distance of the left fitting plane and the right fitting plane according to the left laser plane parameter and the right laser plane parameter;
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 the laser plane adjustment process, the left camera and the right camera acquire the L-shaped calibration block light strip images in real time to obtain an L-shaped calibration block light strip image sequence as shown in the formula (3). Then, the coplanar judging unit processes the image sequence of the light bars of the L-shaped calibration blocks 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 (18), thereby realizing the visual adjustment of the laser planes on the two sides of the steel rail of the track geometry measuring system, and the effect is.
In an embodiment, the above method for adjusting the laser plane of the track geometry detecting 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.
During specific implementation, in the laser plane adjustment process of the track geometry measuring system, the laser plane parameters on the two sides are obtained in real time through the L-shaped calibration block and the 4 plane calibration plates, and the two laser planes are displayed in a program window in real time according to the laser plane parameters on the two sides, so that the real-time visualization of the laser plane adjustment process is realized, and the convenience and the efficiency of the laser plane adjustment of the track geometry detecting system are improved.
Alternatively, the planar target may be a circular lattice or a checkerboard, as shown in FIG. 14.
Meanwhile, in order to facilitate understanding of the laser plane adjustment scheme of the track geometry detection system provided by the embodiment of the invention, the following explains the noun explanation of related technical terms.
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 rotating the coordinate system t1 around the X-axis of t1 by an angle α to obtain a temporary coordinate system t2, then rotating the coordinate system t2 around the Y-axis of t2 by an angle β to obtain a temporary coordinate system t3, then rotating the coordinate system t3 around the Z-axis of t3 by an angle γ, and finally obtaining a coordinate system c 2.
The embodiment of the invention provides a laser plane adjusting method of a track geometry detection system, which realizes that:
1) in the laser plane adjusting process of the track geometry measuring system, laser plane parameters on two sides are obtained in real time through the L-shaped calibration block and the 4 plane calibration plates, and two laser planes are displayed in a program window in real time according to the laser plane parameters on the two sides, so that the real-time visualization of the laser plane adjusting process is realized.
2) And calculating the normal 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 included angle and the plane distance, and judging whether the laser planes on the two sides of the steel rail are adjusted in place.
The embodiment of the invention also provides a laser plane adjusting device of a track geometry detection system, which is described in the following embodiment. Because the principle of the device for solving the problems is similar to the laser plane adjusting method of the track geometry detecting system, the implementation of the device can refer to the implementation of the laser plane adjusting method of the track geometry detecting system, and repeated parts are not described again.
Fig. 16 is a schematic view of a laser plane adjusting device of a track geometry detecting system according to an embodiment of the present invention, as shown in fig. 16, the adjusting device includes:
the acquisition unit 01 is used for acquiring internal parameters and external parameters of cameras in the left and right laser camera shooting assemblies in the track geometry detection system;
the image acquisition unit 02 is used for acquiring light strip images of the left and right L-shaped calibration blocks; two upper surfaces of each L-shaped calibration block are respectively provided with a plane target calibration plate, each plane target calibration plate is provided with a plurality of uniformly distributed marker points, and the two L-shaped calibration blocks and the corresponding plane target calibration plates are arranged in the working ranges 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 two L-shaped calibration blocks on the left side and the right side; 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 strip centers of the light strip images of the left and right L-shaped calibration blocks to obtain light strip center pixel coordinates of the light strip images of the left and right L-shaped calibration blocks;
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 two L-shaped calibration blocks at the left side and the right side are transformed to be under corresponding target coordinate systems;
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 under a world coordinate system to obtain left and right laser plane parameters;
calculating the normal line included angle and the plane distance of the left fitting plane and the right fitting plane according to the left laser plane parameter and the right laser plane parameter;
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 for track geometry detecting system may further include: and the height difference determining unit is used for determining the height difference between the two upper surfaces of each L-shaped 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 for track geometry detecting system may further include: the 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 run on the processor, wherein when the processor executes the computer program, the laser plane adjustment method of the track geometry detection system is realized.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program for executing the laser plane adjustment method of the track geometry detection system is stored in the computer-readable storage medium.
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. The method for adjusting the laser plane of the track geometry detection system provided by the embodiment of the invention has the advantages that: the invention provides a visual adjustment method and a visual adjustment device for a laser plane of a track geometry measurement 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 strong real-time performance and high 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 track geometry detection system is characterized by comprising the following steps:
acquiring internal parameters and external parameters of cameras in laser camera components on the left side and the right side in a track geometry detection system;
acquiring light bar images of two L-shaped calibration blocks on the left side and the right side; two upper surfaces of each L-shaped calibration block are respectively provided with a plane target calibration plate, each plane target calibration plate is provided with a plurality of uniformly distributed marker points, and the two L-shaped calibration blocks and the corresponding plane target calibration plates are arranged in the working ranges 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 two L-shaped calibration blocks of the left side and the right side; 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 of claim 1, wherein the parameters of the laser planes on the left and right sides are determined according to the internal parameters and external parameters of the cameras in the laser camera assemblies on the left and right sides and the images of the light bars of the two L-shaped calibration blocks on the left and right sides; 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 strip centers of the light strip images of the left and right L-shaped calibration blocks to obtain light strip center pixel coordinates of the light strip images of the left and right L-shaped calibration blocks;
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 two L-shaped calibration blocks at the left side and the right side are transformed to be under corresponding target coordinate systems;
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 under a world coordinate system to obtain left and right laser plane parameters;
calculating the normal line included angle and the plane distance of the left fitting plane and the right fitting plane according to the left laser plane parameter and the right laser plane parameter;
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 a laser plane of a track geometry inspection system according to claim 1, further comprising: and determining the height difference between the two upper surfaces of each L-shaped calibration block according to the measuring range of the laser camera shooting assembly in the depth direction.
4. The method for adjusting a laser plane of a track geometry inspection 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 track geometry detecting system laser plane adjusting device, characterized by, includes:
the acquisition unit is used for acquiring internal parameters and external parameters of cameras in the left and right laser camera shooting assemblies in the track geometry detection system;
the image acquisition unit is used for acquiring light strip images of the left and right L-shaped calibration blocks; two upper surfaces of each L-shaped calibration block are respectively provided with a plane target calibration plate, each plane target calibration plate is provided with a plurality of uniformly distributed marker points, and the two L-shaped calibration blocks and the corresponding plane target calibration plates are arranged in the working ranges 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 two L-shaped calibration blocks on the left side and the right side; 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 track geometry inspection system laser plane adjustment apparatus of claim 5, wherein the coplanarity degree determination unit is specifically configured to:
extracting light strip centers of the light strip images of the left and right L-shaped calibration blocks to obtain light strip center pixel coordinates of the light strip images of the left and right L-shaped calibration blocks;
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 two L-shaped calibration blocks at the left side and the right side are transformed to be under corresponding target coordinate systems;
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 under a world coordinate system to obtain left and right laser plane parameters;
calculating the normal line included angle and the plane distance of the left fitting plane and the right fitting plane according to the left laser plane parameter and the right laser plane parameter;
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 track geometry inspection system laser plane adjustment apparatus of claim 5, further comprising: and the height difference determining unit is used for determining the height difference between the two upper surfaces of each L-shaped calibration block according to the measuring range of the laser camera shooting assembly in the depth direction.
8. The track geometry inspection system laser plane adjustment apparatus of claim 5, further comprising: the 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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