CN113251980A - Magnetic suspension train sensor error calibration method, device, equipment and storage medium - Google Patents
Magnetic suspension train sensor error calibration method, device, equipment and storage medium Download PDFInfo
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- CN113251980A CN113251980A CN202110698865.XA CN202110698865A CN113251980A CN 113251980 A CN113251980 A CN 113251980A CN 202110698865 A CN202110698865 A CN 202110698865A CN 113251980 A CN113251980 A CN 113251980A
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Abstract
The invention discloses a method, a device and equipment for calibrating an initial error of a gap sensor of a magnetic-levitation train and a computer readable storage medium, wherein the method comprises the steps of collecting a calibration image of a calibration plate attached to the inner side of an electromagnet polar plate and images of an F rail and an electromagnet in a falling and floating state of the train through a camera; determining camera parameters and depth values from a camera to the inner side of an electromagnet polar plate based on a camera calibration principle and a calibration image, and determining an initial reference gap between a polar surface of an F rail and a polar surface of an electromagnet by combining the camera parameters and the depth values with the image; gap data between the pole face of the F rail and the pole face of the electromagnet are acquired through a gap sensor; so as to calibrate the actual gap between the F rail and the pole face of the electromagnet through the difference calculation result of the gap data and the initial reference gap. The invention can automatically solve the problem of initial gap error caused by the improper mechanical installation of the gap sensor, overcomes the problem of low efficiency of a manual calibration mode, and has the characteristics of simple operation and high automation degree.
Description
Technical Field
The invention relates to the technical field of magnetic suspension trains, in particular to a method, a device and equipment for calibrating initial measurement errors of a gap sensor of a magnetic suspension train and a computer readable storage medium.
Background
The gap sensor is a key component of a suspension system of a magnetic-levitation train and is mainly used for measuring the distance from an electromagnet pole face to an F rail pole face. And the suspension system implements a control strategy according to the feedback value of the gap sensor, and the current of the electromagnet is adjusted to enable the pole surface of the electromagnet to attract the pole surface of the F rail so as to suspend the train in the air.
At present, the installation of the gap sensor of the maglev train adopts a mechanical clamping mode, the mode is difficult to ensure that the measured value of the sensor accurately reflects the distance between the pole face of the electromagnet and the pole face of the F rail, and the main reasons are as follows: (1) errors exist in the mechanical position and manual installation of the gap sensor; (2) the long-term vibration of suspension system vehicle can cause sensor screens bolt not hard up, and the accumulation can make initial error grow in the day and month. Before the magnetic suspension train operates, measuring tools such as vernier calipers need to be manually used for calibrating initial errors, the mode is time-consuming and labor-consuming, and the initial error calibration efficiency is low.
Therefore, how to achieve fast self-calibration of the initial error of the gap sensor is a technical problem which needs to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide a method, a device and equipment for calibrating the initial error of a gap sensor of a magnetic suspension train and a computer readable storage medium, and aims to improve the data accuracy of the suspension sensor of the magnetic suspension train.
In order to solve the technical problem, the invention provides a method for calibrating the initial error of a gap sensor of a magnetic-levitation train, which comprises the following steps:
acquiring a calibration image of a calibration plate attached to the inner side of the electromagnet pole plate through a camera arranged on the gap sensor; the camera is used for acquiring images of the F rail and the electromagnet in a falling and floating state of the train;
determining camera parameters of the camera and depth values from the camera to the inner side of the electromagnet pole plate based on a camera calibration principle and the calibration image;
determining a pole face gap between the pole face of the F rail and the pole face of the electromagnet as an initial reference gap according to the camera parameters, the depth value and the image;
gap data between the pole face of the F rail and the pole face of the electromagnet are acquired through the gap sensor;
and performing difference operation on the gap data and the initial reference gap, and taking an operation result as a gap initial error so as to calibrate the actual gap between the pole faces of the F rail and the electromagnet according to the gap initial error.
In an optional embodiment of the present application, determining a gap between the pole face of the F-rail and the pole face of the electromagnet as an initial reference gap based on the camera parameters, the depth values, and the image comprises:
identifying a plurality of sampling points on the F rail and a corresponding projection sampling point of each sampling point on the electromagnet in the image, wherein a connecting line between each sampling point and the corresponding projection sampling point is perpendicular to the electromagnet;
determining distance data between each sampling point and the corresponding projection sampling point based on the number of pixel points between the sampling point and the corresponding projection sampling point, and the camera parameter and the depth value;
and carrying out average value operation on the distance data corresponding to each sampling point, and taking an average value operation result as the initial reference gap.
In an optional embodiment of the present application, the acquiring a calibration image of a calibration plate attached to an inner side of the electromagnetic pole plate by a camera installed on the gap sensor includes:
acquiring an initial calibration image of the calibration plate through the camera;
extracting a variance value of the distance between each adjacent calibration characteristic point in the initial calibration image;
and adjusting the optical axis direction of the camera according to the variance value, and repeatedly executing the process of acquiring the initial calibration image of the calibration plate by the camera until the variance value is not greater than a preset variance threshold value, and taking the initial calibration image corresponding to the variance value not greater than the preset variance threshold value as the calibration image corresponding to the condition that the optical axis of the camera is perpendicular to the inner side of the electromagnet pole plate.
In an optional embodiment of the present application, determining a pole face gap between the pole face of the F-rail and the pole face of the electromagnet as an initial reference gap based on the camera parameters, the depth values, and the image comprises:
based on the camera parameters, the depth values, the image, and an interpolar gap equation between the F-rail and the electromagnetic plate:
determining the initial reference gap; wherein the content of the first and second substances,
the actual distance from the characteristic point on the pole face of the F rail to the pole face of the electromagnet is obtained;
is the coordinate value of the characteristic point on the polar surface of the F track in the image,
the coordinate values of the projection characteristic points of the characteristic points in the image, which are vertical to the polar surface of the electromagnet,
for the depth value between the optical center of the camera and the calibration plate,
the camera transverse intrinsic parameters and the camera longitudinal intrinsic parameters are respectively.
The application also provides a maglev train gap sensor initial error calibration device, includes:
the image acquisition module is used for acquiring a calibration image of a calibration plate attached to the inner side of the electromagnet pole plate through a camera arranged on the gap sensor; and the camera is used for collecting the images of the F rail and the electromagnet in the falling and floating state of the train,
the camera parameter calibration module is used for determining camera parameters of the camera and depth values from the camera to the inner side of the electromagnet polar plate based on a camera calibration principle and the calibration image;
the camera parameter calibration module is used for determining a polar surface gap between the polar surface of the F rail and the polar surface of the electromagnet as an initial reference gap according to the camera parameters, the depth value and the image;
the gap data acquisition module is used for acquiring gap data between the pole face of the F rail and the pole face of the electromagnet through the gap sensor;
and the clearance error calibration module is used for carrying out difference operation on the clearance data and the initial reference clearance, and taking an operation result as a clearance initial error so as to calibrate the actual clearance between the F rail and the pole face of the electromagnet according to the clearance initial error.
The application also provides a maglev train gap sensor initial measurement error calibration equipment, include:
a memory for storing a computer program;
a processor for implementing the steps of the method for calibrating the initial measurement error of the gap sensor of the magnetic-levitation train when the computer program is executed.
The present application further provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of the method for calibrating an initial measurement error of a gap sensor of a magnetic levitation train as described in any one of the above.
The invention provides a method for calibrating an initial error of a gap sensor of a maglev train, which comprises the following steps: acquiring a calibration image of a calibration plate attached to the inner side of the electromagnet pole plate through a camera arranged on the gap sensor; acquiring images of the F rail and the electromagnet in a falling and floating state of the train by a camera; determining camera parameters of a camera and depth values from the camera to the inner side of the electromagnet polar plate based on a camera calibration principle and a calibration image; determining a polar surface gap between the polar surface of the F rail and the polar surface of the electromagnet as an initial reference gap according to the camera parameters, the depth value and the image; gap data between the pole face of the F rail and the pole face of the electromagnet are acquired through a gap sensor; and performing difference operation on the gap data and the initial reference gap, and taking an operation result as an initial gap error so as to calibrate the actual gap between the F rail and the pole face of the electromagnet according to the initial gap error.
The problem that the measured gap between the electromagnet pole plate and the F rail pole plate of the magnetic suspension train is inaccurate due to the fact that the gap sensor fixed on the pole plate of the electromagnet loosens is solved; before the train runs, acquiring images between the F rail and the pole plates of the electromagnet, and identifying and determining an initial reference distance reflecting more accuracy between the F rail and the pole plates of the electromagnet by utilizing the images; therefore, the gap data measured by the gap sensor can be subjected to error calibration by taking the initial reference interval as a basis to obtain the initial gap error, so that when the gap sensor is used for monitoring the gap between the F rail and the pole face of the electromagnet in the subsequent train running process, the gap data measured by the gap sensor can be corrected by using the calibrated initial gap error, and the accuracy of the gap data measured by the gap sensor in the subsequent process is ensured. For the mode that adopts conventional instruments such as slide caliper to carry out clearance sensor measurement error and markd, can improve the clearance error between F rail and the electro-magnet polar surface in this application to a certain extent and markd the accuracy, and then improve the work efficiency that the error was markd.
The application also provides a magnetic-levitation train gap sensor initial error calibration device, equipment and a computer readable storage medium, and the magnetic-levitation train gap sensor initial error calibration device has the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of an initial error calibration method for a gap sensor of a magnetic levitation train according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of an apparatus for initial error calibration of a gap sensor of a maglev train according to an embodiment of the present disclosure;
fig. 3 is a structural block diagram of the initial error calibration device for the gap sensor of the magnetic levitation train provided by the embodiment of the invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and fig. 2, fig. 1 is a schematic flow diagram of a method for calibrating an initial error of a gap sensor of a magnetic levitation train provided in the embodiment of the present application, and fig. 2 is a schematic structural diagram of an apparatus for calibrating an initial error of a gap sensor of a magnetic levitation train provided in the embodiment of the present application. The error calibration method can comprise the following steps:
s11: and a camera arranged on the gap sensor is used for acquiring a calibration image of the calibration plate attached to the inner side of the electromagnet pole plate.
As shown in fig. 2, in the present application, a camera 4 is fixedly installed on the gap sensor 3 or at a position around the gap sensor 3, the shooting direction of the camera 4 is opposite to the inner side of the electromagnet pole plate, and when shooting a calibration image on the electromagnet pole plate, the optical axis of the camera 4 should be perpendicular to the inner side of the electromagnet pole plate as much as possible.
The calibration board in this embodiment may be a checkerboard calibration board commonly used for calibrating parameters in a camera or other similar calibration boards. Stickers or the like having calibration patterns similar to checkerboards or the like may be attached in advance on the inner side of the pole plate of the F rail 1, thereby forming a calibration plate on the inner side of the pole plate of the F rail 1.
It should be noted that the optical axis of the camera 4 when the camera 4 takes the calibration image should be perpendicular to the surface of the calibration board. In order to realize that the optical axis of the camera 4 is perpendicular to the calibration plate, in an alternative embodiment of the present application, the process of capturing the calibration image of the calibration plate may include:
acquiring an initial calibration image of the calibration plate through a camera 4;
extracting a variance value of the distance between every two adjacent calibration characteristic points in the initial calibration image;
and adjusting the optical axis direction of the camera 4 according to the variance value, repeatedly executing the process of acquiring the initial calibration image of the calibration plate by the camera 4 until the variance value is not more than the preset variance threshold value, and taking the initial calibration image corresponding to the variance value not more than the preset variance threshold value as the calibration image corresponding to the time when the optical axis of the camera 4 is perpendicular to the inner side of the electromagnet pole plate.
For a calibration plate with a checkerboard pattern or a point array pattern and the like, the checkerboard angular points or the array point circle centers can be used as calibration characteristic points.
Taking a checkerboard calibration image as an example, the distances between two adjacent calibration feature points in the calibration plate are the same, and if the optical axis of the camera is perpendicular to the calibration plate, the distances between two adjacent calibration feature points in the image of the calibration plate shot by the camera should be the same; on the contrary, if the optical axis of the camera is not perpendicular to the calibration plate, it is obvious that there should be a difference between the distances between different adjacent calibration feature points in the captured calibration image.
For this reason, in the embodiment, based on this, the camera 4 captures an image of the calibration board, and calculates the pixel pitches between the sets of adjacent calibration feature points in the image, so that the smaller the difference between the pixel pitches, the closer the optical axis of the camera is to being perpendicular to the calibration board. Therefore, variance calculation can be carried out on the pixel spacing between a plurality of groups of adjacent calibration characteristic points, the variance calculation result is compared with a preset variance threshold, and if the variance calculation result is overlarge, the optical axis of the camera is optimized and adjusted to finally enable the variance to be minimum.
It should be noted that when the optical axis direction of the camera is actually adjusted, the adjustment can be performed from two different directions. For example, the variance calculation result corresponding to the pixel pitch between the plurality of groups of adjacent calibration feature points in the horizontal direction may be calculated and determined first, and the optical axis of the camera 4 is adjusted in the horizontal direction based on the variance calculation result, so that the variance calculation result is gradually reduced in the process of adjusting the optical axis in the horizontal direction until the variance calculation result approaches to 0; and then determining a plurality of groups of variance operation results corresponding to the calibration characteristic points adjacent in the vertical direction, and gradually adjusting the direction of the optical axis until the variance operation results in the vertical direction are close to 0. At this time, the variance calculation results of the adjacent calibration feature points in the horizontal direction and the vertical direction in the initial calibration image shot by the camera all approach to 0, that is, the optical axis of the camera 4 is considered to be perpendicular to the surface of the calibration plate at this time, and the image obtained by correspondingly shooting the calibration plate at this time is also the calibration image.
In the above embodiment, the optical axis adjusting direction of the camera 4 is divided into two mutually perpendicular directions, i.e., the horizontal direction and the vertical direction, and the optical axes of the camera 4 are respectively adjusted in the two mutually perpendicular directions, so that the optical axes of the camera 4 are finally perpendicular to the surface of the calibration board. However, the adjustment of the optical axis of the camera 4 in the present application is not necessarily decomposed into two directions for adjustment, and other adjustment methods may be adopted, which is not limited in the present application.
S12: and acquiring images of the F rail and the electromagnet in a falling and floating state of the train by using a camera.
As shown in fig. 2, the camera of this embodiment collects images including the F-rail 1 and the electromagnet 2. As mentioned before, the camera 4 has been adjusted to be perpendicular to the inside of the electromagnet pole plate before the camera 4 takes the image. At this time, the image of the F rail and the electromagnet shot by the camera should include the edge areas of the polar plates of the F rail 1 and the electromagnet 2, and the actual polar plate gap between the F rail 1 and the electromagnet 2 can be indirectly obtained based on the imaging pixel pitch between the polar plate edges of the F rail 1 and the electromagnet 2 in the image.
S13: based on a camera calibration principle and a calibration image, camera parameters of the camera and depth values from the camera to the inner side of the electromagnet pole plate are determined.
S14: and determining a polar surface gap between the polar surface of the F rail and the polar surface of the electromagnet as an initial reference gap according to the camera parameters, the depth value and the image.
When calibrating the camera parameters, the calibration can be carried out by adopting the conventional camera calibration principle and method. In the pole face image of the F rail and the pole face image of the electromagnet shot by the camera, the imaging distance between the F rail and the pole face of the electromagnet is obviously in fixed proportion to the physical distance between the F rail and the pole face of the electromagnet, the imaging distance between the F rail and the pole face of the electromagnet is determined based on the distance image, namely the physical distance between the F rail and the pole face of the electromagnet can be determined, and the physical distance is also the initial reference gap between the F rail and the pole face of the electromagnet.
Setting the coordinates of two adjacent characteristic points on the calibration plate in a world coordinate system as
And
wherein, in the step (A),
representing the depth of the camera's optical center to the calibration plate; the coordinates of the imaging points of the two characteristic points in the camera imaging plane in the camera coordinate system are respectively
And
(ii) a Based on camera calibration principles it can be determined that:
Thus, the actual distance between two feature points on the calibration plate is formulated as:
obviously, this distance formula represents the correspondence between the distance between two feature points in the image captured by the camera 4 and the distance between two feature points in the live-action picture.
The distance formula is satisfied for two feature points on the calibration board, and for the same camera, the actual distance between any other two position points in the picture of the image shot at the same position should also satisfy the distance formula. Therefore, the distance formula should also be satisfied for the distance between the feature point on the F-rail in the distance image acquired by the camera and the corresponding perpendicular projection point on the polar surface of the electromagnet, so that the camera calibration principle can be used to calibrate
After these two camera parameters, the proportional relationship between the imaging distance of the F-rail to the pole face of the electromagnet and the actual distance is determined, i.e.
Thus, the initial reference spacing between the F-rail and the pole face of the electromagnet can be determined according to this proportional relationship.
S15: and gap data between the pole face of the F rail and the pole face of the electromagnet is acquired through the gap sensor.
As can be seen from fig. 2, when the gap sensor 3 measures the gap data, the measurement direction is perpendicular to the pole plate of the F rail 1 and the pole plate of the electromagnet 2, and the optical axis direction of the image captured by the camera 4 is perpendicular to the measurement direction of the gap sensor 3.
It should be noted that the gap sensor 3 is generally an eddy current electromagnetic induction sensor, but other sensors capable of measuring distance are not excluded in the present application, and the present application is not limited to this.
The gap sensor is typically fixed to the pole plate of the electromagnet 3. The method is used for measuring the pole plate gap of the F rail 1 and the electromagnet 2 in real time in the running process of the magnetic suspension train. However, the measured gap data between the F rail 1 and the pole plate of the electromagnet 2 may be inaccurate due to the limited mechanical mounting precision of the gap sensor 3, the gradual looseness of the gap sensor 3 mounted on the electromagnet 2 caused by frequent vibration along with the accumulation of working time, and the like.
As described above, the initial reference gap between the F rail 1 and the pole plate of the electromagnet 2 can be determined by the images of the F rail 1 and the electromagnet 2 captured by the camera 4, so that the error calibration can be performed on the gap data measured by the gap sensor 3.
S16: and performing difference operation on the gap data and the initial reference gap, and taking an operation result as an initial gap error so as to calibrate the actual gap between the F rail and the pole face of the electromagnet according to the initial gap error.
Based on the above discussion, the initial reference gap determined based on the image captured by the camera between the F-rail 1 and the electromagnet 2 in the present application is essentially the same as the gap data measured by the gap sensor 3. Obviously, in the case that there is no error in the gap sensor 3 measuring the gap between the F rail 1 and the pole plate of the electromagnet 2, the size of the initial reference pitch and gap data should be the same; if there is an error, there is a difference between the two, which is also the measurement error of the gap sensor 3, and for the gap sensor 3, there should be a measurement error between the gap data measured each time and the actual accurate gap.
Therefore, in this embodiment, the initial reference interval is used as a basis, and the difference between the initial reference interval and the gap data is used as a measurement error for calibrating the gap sensor, that is, a gap initial error. In the subsequent process of running the magnetic suspension train, the gap data obtained by each measurement of the gap sensor can be calibrated through the gap initial error so as to obtain more accurate actual gap data between the F rail and the pole face of the electromagnet, and the adjustment and control of the suspension gap between the F rail and the pole face of the electromagnet are facilitated more accurately.
To sum up, before the maglev train traveles in this application, utilize image detection's mode to obtain accurate clearance between the polar surface of F rail and electro-magnet to use this to carry out initial error calibration to clearance sensor measuring's clearance data for the basis, provide accurate calibration basis for follow-up clearance between the polar surface to clearance sensor accuracy survey F rail and electro-magnet, improve the precision of suspension state control between the polar surface of F rail and electro-magnet, all have very important meaning to improving suspension system's stability.
Based on the foregoing embodiment, in another optional embodiment of the present application, the process of obtaining the initial reference spacing between the F-rail and the pole face of the electromagnet based on the spacing image may further include:
identifying a plurality of sampling points on an F rail in an image and a projection sampling point corresponding to each sampling point on an electromagnet, wherein a connecting line between each sampling point and the corresponding projection sampling point is vertical to the electromagnet;
determining distance data between each sampling point and the corresponding projection sampling point based on the number of pixel points between the sampling point and the corresponding projection sampling point and the depth value of the camera parameter sum;
and carrying out average value operation on the distance data corresponding to each sampling point, and taking the average value operation result as an initial reference gap.
In order to ensure the accuracy of the measured initial reference distance, a plurality of sampling points can be randomly selected at the imaging edge position of the polar plate of the F rail in the image shot by the camera, and the vertical projection point corresponding to each sampling point is correspondingly selected on the polar plate of the electromagnet, namely the connecting line between each sampling point and the corresponding vertical projection point is perpendicular to the polar plate of the electromagnet. The distance between each sampling point and the corresponding vertical projection point is also the imaging distance from the multiple sampling points on the polar plate of the F rail to the polar plate of the electromagnet, and in order to avoid the deviation of the imaging distance corresponding to the individual sampling points, the average value of the actual gaps corresponding to the multiple imaging distances can be determined as the final initial reference distance by using the proportional relation between the imaging distance from the polar plate of the F rail to the polar plate of the electromagnet and the actual gaps, so that the measured initial reference distance is more accurate and reliable, and the accuracy of the initial distance error is further ensured.
Of course, in order to further avoid the problem that the measured initial reference pitch is inaccurate due to the contingency of the shooting pitch images, it is also possible to consider that a plurality of frames of images of the F rail and the electromagnet are continuously shot, a plurality of initial reference pitches are determined based on a plurality of frames of images, and then the initial reference pitches are averaged to be used as the final initial reference pitch, thereby implementing the technical scheme of the present application. In the practical application process, other similar data processing modes for improving the accuracy of the initial reference distance may also exist, which are not listed herein.
The following introduces the initial error calibration device for a gap sensor of a magnetic-levitation train provided by the embodiment of the present invention, and the initial error calibration device for a gap sensor of a magnetic-levitation train described below and the initial error calibration method for a gap sensor of a magnetic-levitation train described above can be referred to correspondingly.
Fig. 3 is a structural block diagram of an initial error calibration device for a gap sensor of a magnetic levitation train according to an embodiment of the present invention, and referring to fig. 3, the initial error calibration device for a gap sensor of a magnetic levitation train may include:
the image acquisition module 100 is used for acquiring a calibration image of a calibration plate attached to the inner side of the electromagnet pole plate through a camera arranged on the gap sensor; and the camera is used for collecting the images of the F rail and the electromagnet in the falling and floating state of the train,
a camera parameter calibration module 200, configured to determine camera parameters of the camera and depth values from the camera to the inner side of the electromagnet pole plate based on a camera calibration principle and the calibration image;
a camera parameter calibration module 300, configured to determine, according to the camera parameters, the depth values, and the image, a pole face gap between the pole face of the F rail and the pole face of the electromagnet as an initial reference gap;
a gap data acquisition module 400, configured to acquire gap data between the pole face of the F rail and the pole face of the electromagnet through the gap sensor;
and the gap error calibration module 500 is configured to perform difference operation on the gap data and the initial reference gap, and use an operation result as a gap initial error, so as to calibrate the actual gap between the pole faces of the F rail and the electromagnet according to the gap initial error.
The initial error calibration device of the gap sensor of the magnetic-levitation train of the present embodiment is used for implementing the aforementioned initial error calibration method of the gap sensor of the magnetic-levitation train, and therefore specific implementations of the initial error calibration device of the gap sensor of the magnetic-levitation train can be seen from the foregoing embodiments of the initial error calibration method of the gap sensor of the magnetic-levitation train, for example, the image acquisition module 100, the camera parameter calibration module 200, the camera parameter calibration module 300, the gap data acquisition module 400, and the gap error calibration module 500 are respectively used for implementing steps S11, S12, S13, S14, S15, and S16 in the initial measurement error calibration method of the gap sensor of the magnetic-levitation train, so specific implementations thereof can refer to descriptions of corresponding embodiments of each part, and are not described herein again.
The application also provides an embodiment of the magnetic-levitation train gap sensor initial error calibration equipment, which can comprise:
a memory for storing a computer program;
and the processor is used for realizing the steps of the magnetic-levitation train gap sensor initial error calibration method when the computer program is executed.
The steps of the method for processing the initial error calibration of the gap sensor of the magnetic-levitation train executed by the method can comprise the following steps:
acquiring a calibration image of a calibration plate attached to the inner side of the electromagnet pole plate through a camera arranged on the gap sensor; the camera is used for acquiring images of the F rail and the electromagnet in a falling and floating state of the train;
determining camera parameters of the camera and depth values from the camera to the inner side of the electromagnet pole plate based on a camera calibration principle and the calibration image;
determining a pole face gap between the pole face of the F rail and the pole face of the electromagnet as an initial reference gap according to the camera parameters, the depth value and the image;
gap data between the pole face of the F rail and the pole face of the electromagnet are acquired through the gap sensor;
and performing difference operation on the gap data and the initial reference gap, and taking an operation result as a gap initial error so as to calibrate the actual gap between the pole faces of the F rail and the electromagnet according to the gap initial error.
The initial error calibration equipment for the gap sensor of the magnetic suspension train can simply and quickly realize the calibration of the measurement error of the gap sensor before the magnetic suspension train runs, the accuracy of the suspension gap of the magnetic suspension train measured by the gap sensor is ensured, reliable data basis is provided for the control of the suspension state of the magnetic suspension train in the running process of the magnetic suspension train, and the safe and stable running of the magnetic suspension train is facilitated.
The present application further provides a computer readable storage medium, having a computer program stored thereon, where the computer program, when executed by a processor, implements the steps of the method for calibrating an initial error of a gap sensor of a magnetic levitation train as described in any one of the above.
The computer-readable storage medium may include Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include elements inherent in the list. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (7)
1. A method for calibrating initial errors of a gap sensor of a magnetic-levitation train is characterized by comprising the following steps:
acquiring a calibration image of a calibration plate attached to the inner side of the electromagnet pole plate through a camera arranged on the gap sensor; the camera is used for acquiring images of the F rail and the electromagnet in a falling and floating state of the train;
determining camera parameters of the camera and depth values from the camera to the inner side of the electromagnet pole plate based on a camera calibration principle and the calibration image;
determining a pole face gap between the pole face of the F rail and the pole face of the electromagnet as an initial reference gap according to the camera parameters, the depth value and the image;
gap data between the pole face of the F rail and the pole face of the electromagnet are acquired through the gap sensor;
and performing difference operation on the gap data and the initial reference gap, and taking an operation result as a gap initial error so as to calibrate the actual gap between the pole faces of the F rail and the electromagnet according to the gap initial error.
2. The method for calibrating initial error of a gap sensor of a magnetic-levitation train as claimed in claim 1, wherein determining the gap between the pole face of the F-rail and the pole face of the electromagnet as an initial reference gap according to the camera parameters, the depth value and the image comprises:
identifying a plurality of sampling points on the F rail and a corresponding projection sampling point of each sampling point on the electromagnet in the image, wherein a connecting line between each sampling point and the corresponding projection sampling point is perpendicular to the electromagnet;
determining distance data between each sampling point and the corresponding projection sampling point based on the number of pixel points between the sampling point and the corresponding projection sampling point, and the camera parameter and the depth value;
and carrying out average value operation on the distance data corresponding to each sampling point, and taking an average value operation result as the initial reference gap.
3. The method for calibrating the initial error of the gap sensor of the magnetic-levitation train as recited in claim 1, wherein the step of collecting the calibration image of the calibration plate attached to the inner side of the electromagnetic pole plate by the camera installed on the gap sensor comprises the steps of:
acquiring an initial calibration image of the calibration plate through the camera;
extracting a variance value of the distance between each adjacent calibration characteristic point in the initial calibration image;
and adjusting the optical axis direction of the camera according to the variance value, and repeatedly executing the process of acquiring the initial calibration image of the calibration plate by the camera until the variance value is not greater than a preset variance threshold value, and taking the initial calibration image corresponding to the variance value not greater than the preset variance threshold value as the calibration image corresponding to the condition that the optical axis of the camera is perpendicular to the inner side of the electromagnet pole plate.
4. The method for calibrating initial error of a gap sensor of a magnetic-levitation train as claimed in claim 1, wherein determining a pole face gap between a pole face of the F-rail and a pole face of the electromagnet as an initial reference gap according to the camera parameters, the depth values and the image comprises:
based on the camera parameters, the depth values, the image, and an interpolar gap equation between the F-rail and the electromagnetic plate:
determining the initial reference gap; wherein the content of the first and second substances,
the actual distance from the characteristic point on the pole face of the F rail to the pole face of the electromagnet is obtained;
is the coordinate value of the characteristic point on the polar surface of the F track in the image,
the coordinate values of the projection characteristic points of the characteristic points in the image, which are vertical to the polar surface of the electromagnet,
for the depth value between the optical center of the camera and the calibration plate,
the camera transverse intrinsic parameters and the camera longitudinal intrinsic parameters are respectively.
5. The utility model provides a maglev train clearance sensor initial error calibration device which characterized in that includes:
the image acquisition module is used for acquiring a calibration image of a calibration plate attached to the inner side of the electromagnet pole plate through a camera arranged on the gap sensor; and the camera is used for collecting the images of the F rail and the electromagnet in the falling and floating state of the train,
the camera parameter calibration module is used for determining camera parameters of the camera and depth values from the camera to the inner side of the electromagnet polar plate based on a camera calibration principle and the calibration image;
the camera parameter calibration module is used for determining a polar surface gap between the polar surface of the F rail and the polar surface of the electromagnet as an initial reference gap according to the camera parameters, the depth value and the image;
the gap data acquisition module is used for acquiring gap data between the pole face of the F rail and the pole face of the electromagnet through the gap sensor;
and the clearance error calibration module is used for carrying out difference operation on the clearance data and the initial reference clearance, and taking an operation result as a clearance initial error so as to calibrate the actual clearance between the F rail and the pole face of the electromagnet according to the clearance initial error.
6. The utility model provides a maglev train clearance sensor initial measurement error calibration equipment which characterized in that includes:
a memory for storing a computer program;
a processor for implementing the steps of the method for calibrating the initial measurement error of a gap sensor of a magnetic levitation train as recited in any one of claims 1 to 4 when the computer program is executed.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for calibrating an initial measurement error of a gap sensor of a magnetic levitation train as recited in any one of claims 1 to 4.
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