CN114719776B - Calibration tool and calibration method for railway vehicle body contour detection system - Google Patents
Calibration tool and calibration method for railway vehicle body contour detection system Download PDFInfo
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- CN114719776B CN114719776B CN202210371520.8A CN202210371520A CN114719776B CN 114719776 B CN114719776 B CN 114719776B CN 202210371520 A CN202210371520 A CN 202210371520A CN 114719776 B CN114719776 B CN 114719776B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
Abstract
The invention discloses a calibration tool of a railway vehicle body contour detection system, which comprises a supporting plate, a horizontally movable platform, a lifting unit and a calibration frame, wherein the supporting plate is arranged on the platform; the lifting part is arranged on the platform and can adjust the height of the platform in the vertical direction; the upper surface of the supporting plate is parallel to the plane where the track is located, and a plurality of parallel direction marking lines are arranged on the upper surface of the supporting plate, and when the calibration tool is used, the direction marking lines are perpendicular to the track; the lifting unit comprises a stand column and a control part, and the stand column is arranged at the top of the platform; the calibration frame is a rectangular frame structure formed by surrounding four measured planes and is vertically fixed on one side of the upright post; a level bubble is arranged on a measured plane at the bottom of the calibration frame, and a laser level meter is arranged in the calibration frame; the control part can control the calibration frame to move up and down along the upright post. A calibration method of the railway vehicle body contour detection system is also provided. The calibration tool is simple in structure, and the calibration method can be used for calibrating the vehicle body contour detection system at any level.
Description
Technical Field
The invention relates to a calibration tool and a calibration method of a railway vehicle body contour detection system, and belongs to the technical field of railway vehicle contour detection.
Background
With the rapid development of national rail transit, the traffic safety requirements for rail transit vehicles such as high-speed rails, urban rails, locomotives, motor cars and the like are increasingly strict, and in order to ensure the normal operation and safety factors of the rail transit vehicles, the contour dimension line is not allowed to be exceeded when the vehicles approach a building or any equipment according to the rules of the ministry of railways. The dimensions defined by the vehicle boundaries must not be exceeded in any case at any part of the vehicle. Along with the progress of the vehicle processing and manufacturing process, the processing and manufacturing precision requirements of the vehicle outline are gradually improved, so that the detection requirements on the vehicle outline are increasingly strict, the characteristics of the vehicle outline detection can be generalized by analyzing the characteristics of the vehicle: dynamic, large-size and high-precision. In the limit detection of rail transit vehicles such as high-speed rails, urban rails, locomotives, motor cars and the like, the detection method of the static limit template gradually fails to meet the increasing detection demands in the aspects of detection efficiency, precision, traceability and the like, and a detection system built by a plurality of laser 3D cameras based on a structured light visual detection technology is adopted to gradually replace the detection method of the static limit template, so that a detection stage of the outline of the rail transit vehicle is moved. The whole coverage of the whole vehicle envelope is realized through a plurality of laser 3D cameras, the laser 3D cameras acquire streamline and contour curve images of the vehicle section, the contour curve images are acquired to obtain the space coordinates of each pixel, and the contour information of each point on the vehicle section is obtained.
At present, calibration and calibration of a vehicle body contour detection system are mainly carried out by adopting a calibration tool and a laser tracker, wherein the calibration tool is used as a carrier to compare the indication consistency of the tests of each camera and the laser tracker in the vehicle body contour detection system. Because the vehicle body contour detection system is formed by constructing a plurality of cameras, the cameras are more dispersed, and the limited detection range of the cameras is limited, the size of the currently used calibration tool is larger, so that the calibration tool can be detected by all the cameras at the upper part, the lower part, the left part and the right part, and the integrated calibration of all the cameras is carried out. However, the calibration tools currently used have the following problems: the calibration tool is a special tool, is large in size and heavy in weight, needs overhead travelling crane lifting, is inconvenient to use and has potential safety hazards; the area of a single surface of the calibration tool is too large, the machining and mounting precision is difficult to ensure, particularly, the side measured surface is not ensured to be parallel to the center line of the track, and when the laser tracker and the acquisition point of the vehicle body contour detection system deviate, the tool angle or flatness error can introduce larger calibration/calibration error; the calibration points and the calibration range are limited by the tool design, and only single-point fixed-point calibration is realized, and multi-level and arbitrary point calibration cannot be realized; when the top surface is calibrated, a personnel to be calibrated needs to perform ascending operation to place the target ball of the laser tracker above the calibration tool.
Disclosure of Invention
Aiming at the problems existing at present and the defects of the prior art, the invention provides a calibration tool and a calibration method of a railway vehicle body contour detection system.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a calibration frock of rail vehicle automobile body profile detection system which structural feature is: the device comprises a supporting plate with an upper surface, a horizontally movable platform, a lifting unit and a calibration frame, wherein the platform is provided with a lifting part, and the lifting part can adjust the height of the platform in the vertical direction; the upper surface of the supporting plate is parallel to the plane where the track is located, and a plurality of parallel direction marking lines are arranged on the upper surface of the supporting plate, and when the calibration tool is used, the direction marking lines are perpendicular to the track; the lifting unit comprises an upright post and a control part, and the upright post is arranged at the top of the platform; the calibration frame is a rectangular frame structure formed by surrounding four measured planes, and is vertically fixed on one side of the upright post; a level bubble is arranged on a measured plane at the bottom of the calibration frame, and a laser level meter is arranged in the calibration frame; the control part can control the calibration frame to move up and down along the upright post.
When the calibration frame and the supporting plate are processed, the flatness of four measured planes of the calibration frame and the flatness of the upper surface of the supporting plate are required to be ensured. Before the calibration frame is installed, the positions of the laser level and the bubble are required to be adjusted, so that light rays emitted by the laser level are perpendicular to four measured planes of the calibration frame, and the bubble of the bubble is centered. Before the calibration tool is used, the supporting plate is placed on a track on which the railway vehicle runs, and the direction marking line is perpendicular to the track; placing the platform on the supporting plate, and placing the target ball on the calibration frame; the horizontal position and the lifting part of the platform are adjusted, so that light rays emitted by the laser level meter coincide with the direction marking lines and the bubble of the level bubble is centered. The direction marking line is perpendicular to the track, and the track center line is parallel to the two parallel tracks, so that the direction marking line is perpendicular to the track center line. The light emitted by the laser level meter is vertical to the four measured planes of the calibration frame, and the light emitted by the laser level meter is coincident with the direction marking line, so that the measured planes of the calibration frame are parallel to the track center line. The bubble of the level bubble is centered so that the measured planes on the left and the right of the calibration frame are vertical to the ground, and the measured planes on the upper and the lower are parallel to the ground. The horizontal position of the calibration frame can move to any position in the horizontal direction along with the platform, and the height direction of the calibration frame can be lifted at will along with the control part in the stroke of the upright post. The calibration tool is simple in structure, relatively small in volume and weight, and does not need overhead travelling crane lifting; the platform is movable and the calibration frame is liftable in the calibration process, so that the vehicle body contour detection system can be calibrated at any level; the measured plane of the calibration frame can be adjusted to be parallel to the central line of the track, so that errors caused by dislocation of acquisition points of the laser tracker and the vehicle body contour detection system can be reduced; the target ball can be preset on the calibration frame and ascend along with the calibration frame, and an operator is not required to place the target ball through ascending operation.
According to the embodiment of the invention, the invention can be further optimized, and the following technical scheme is formed after the optimization:
in order to facilitate the use of the supporting plate, a positioning plate is arranged on the lower surface of the supporting plate, and the positioning plate is perpendicular to the direction marking line; when the calibration tool is used, the positioning plate is parallel to the track. When the supporting plate is used, the positioning plate is placed close to the side face of the track, so that the direction marking line can be guaranteed to be perpendicular to the track, and the track is parallel to the track center line, so that the direction marking line is perpendicular to the track center line.
In order to facilitate the horizontal movement and height adjustment of the platform, in particular, the lifting part is a lockable and height-adjustable universal castor.
Specifically, a linear guide rail is arranged on the side surface of the upright post, and the control part can control the calibration frame to move up and down along the linear guide rail. The linear guide rail is arranged, so that the calibration frame can be controlled to move up and down along the upright post more conveniently.
Specifically, the control part comprises an oil cylinder and a control box, and the control box is electrically connected with the oil cylinder; the oil cylinder can control the calibration frame to move up and down along the linear guide rail, and the control box can control the expansion and contraction amount of the oil cylinder.
Preferably, the calibration frame is made of magnetic material. The magnetic material is adopted, so that the target ball of the laser tracker can be conveniently adsorbed on the calibration frame through the magnetic target ball seat.
Based on the same inventive concept, the invention also provides a calibration method of the railway vehicle body contour detection system. The calibration tool applying the railway vehicle body contour detection system comprises the following steps:
step S1: before the calibration frame is mounted on the upright post, the mounting positions of the bubble on the calibration frame and the laser level meter are required to be adjusted, so that the bubble in the bubble is centered and the light rays emitted by the laser level meter are perpendicular to four measured planes of the calibration frame;
step S2: the supporting plate is placed on the track, and the direction marking line is perpendicular to the track; placing a platform on the supporting plate, mounting a calibration frame on the side surface of the upright post, and placing target balls of a laser tracker on four measured planes of the calibration frame;
step S3: adjusting the horizontal position of the platform on the supporting plate to enable the light rays emitted by the laser level meter to coincide with the direction marking lines; after the calibration frame is lifted to the target height by the control part, the lifting part is adjusted to center the water bubble in the level bubble;
step S4: testing four tested planes of the calibration frame through each camera and each laser tracker in the vehicle body contour detection system respectively, and comparing the consistency of the tested indication values;
step S5: and (3) adjusting the position of the platform on the supporting plate and the height of the calibration frame on the upright post, and repeating the steps S3 and S4.
Specifically, in the step S1, the specific steps are as follows:
step S11: the side face of the calibration frame is placed on a 0-level flat plate, four measured planes of the calibration frame are perpendicular to the 0-level flat plate, and the laser level meter is installed in the calibration frame, so that the projection points of light rays emitted by the laser level meter on any position of the 0-level flat plate on a height scale are identical in position;
step S12: the calibration frame is placed on the 0-level flat plate, so that a measured plane provided with the level bubble is parallel to the 0-level flat plate, and the position of the level bubble is adjusted, so that the water bubble of the level bubble is centered.
The projection points of the light rays emitted by the laser level meter on the height graduated scale at any position on the 0-level flat plate are identical in position, and the plane formed by the light rays emitted by the laser level meter is vertical to four measured planes of the calibration frame. The light emitted by the laser level meter coincides with the direction marking line on the supporting plate, and the direction marking line is perpendicular to the track center line on which the railway vehicle runs, so that the four measured planes of the calibration frame are ensured to be parallel to the track center line. In the calibration process, the laser tracker and the vehicle body contour detection system take the track center line as a reference when the size of the calibration frame is measured, and misalignment exists along the track center line defense line when the laser tracker and the vehicle body contour detection system respectively measure the calibration frame, and certain errors exist if the laser tracker and the vehicle body contour detection system are not parallel. The level bubble on the calibration frame is parallel to the earth, so that the upper and lower measured planes of the calibration frame are parallel to the earth, and the left and right measured planes are perpendicular to the earth.
In summary, the calibration tool and the calibration method for the railway vehicle body contour detection system provided by the invention have the beneficial effects that compared with the prior art, the calibration tool and the calibration method for the railway vehicle body contour detection system have the following advantages:
1. the calibration tool disclosed by the invention is simple in structure, relatively small in volume and weight, and does not need overhead travelling crane lifting;
2. in the calibration process of the calibration tool, the platform is movable, the calibration frame is liftable, and the vehicle body contour system can be calibrated at any level;
3. the measured plane of the calibration frame on the calibration tool can be adjusted to be parallel to the track center line, so that errors caused by dislocation of acquisition points of the laser tracker and the vehicle body contour detection system can be reduced;
4. the target ball used on the calibration tool can be preset on the calibration frame and ascend along with the calibration frame, and an operator is not required to place the target ball through ascending operation.
Drawings
FIG. 1 is a schematic diagram of a calibration fixture structure of a rail vehicle body contour detection system of the present invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a perspective view of FIG. 1;
fig. 5 is a schematic view of the calibration frame in fig. 1.
In the drawings
1-supporting plate, 2-platform, 3-lifting unit, 31-stand column, 32-control part, 321-oil cylinder, 322-control box, 33-linear guide rail, 4-calibration frame, 41-left measured plane, 42-right measured plane, 43-upper measured plane, 44-lower measured plane, 5-locating plate, 6-direction identification line, 7-level bubble, 8-laser level, 9-lifting part, 10-reinforcing rib, 11-connecting block, 12-linear slide block, 13-track and 14-track central line.
Detailed Description
The invention will be described in detail below with reference to the drawings in connection with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. For convenience of description, the words "upper", "lower", "left" and "right" are used hereinafter to denote only the directions corresponding to the upper, lower, left, and right directions of the drawings, and do not limit the structure.
As shown in fig. 1 and 2, a calibration fixture of a railway vehicle body contour detection system comprises a supporting plate 1, a platform 2, a lifting unit 3 and a calibration frame 4. As shown in fig. 3, a plurality of direction marking lines 6 are arranged on the upper surface of the supporting plate 1, and the upper surface of the supporting plate 1 is parallel to the plane surface where the track 13 is located; a positioning plate 5 and reinforcing ribs 10 are arranged on the lower surface of the supporting plate 1, and the positioning plate 5 is perpendicular to the direction marking line 6; when the calibration fixture is used, the positioning plate 5 is parallel to the track 13 and can be placed next to the side face of the track 13. The bottom of the platform 2 is provided with a lifting part 9, the lifting part 9 is a lockable and height-adjustable universal castor, and the universal castor can move on the supporting plate 1. As shown in fig. 5, the calibration frame 4 is a rectangular frame structure formed by surrounding four measured planes, wherein the four measured planes are a left measured plane 41, a right measured plane 42, an upper measured plane 43, and a lower measured plane 44, and the lower measured plane 44 is provided with a level bubble 7. A laser level meter 8 is arranged in the calibration frame 4, and light rays emitted by the laser level meter 8 are perpendicular to the calibration frame 4; the calibration frame 4 is made of magnetic materials with smaller density so as to reduce the weight of the calibration frame, and the magnetic materials are convenient for installing a target ball of a laser tracker and a magnetic target ball seat. As shown in fig. 4, the lifting unit 3 includes a column 31 and a control part 32, the column 31 is disposed at the top of the platform 2, and a linear guide 33 is disposed on a side surface of the column 31; the control part 32 comprises an oil cylinder 321 and a control box 322, and the control box 322 is electrically connected with the oil cylinder 321; the control box 322 is arranged at the top of the platform 2, and the control box 322 can control the expansion and contraction amount of the oil cylinder 321. The calibration frame 4 is vertically fixed on the side surface of the upright 31, and four measured planes are all located on the outer side of the upright 31. The calibration frame 4 can move up and down along the linear guide rail 33 through the linear slide block 12, the oil cylinder 321 is connected with the linear slide block 12 through the connecting block 11, and the oil cylinder 321 can control the up and down movement distance of the calibration frame 4.
The flatness of four measured planes is ensured when the calibration frame 4 is processed, and the upper surface of the supporting plate 1 is ensured to be parallel to the plane where the track 13 is located when the supporting plate is processed. Before the calibration frame 4 is installed, the positions of the laser level 8 and the level bubble 7 need to be adjusted. The calibration frame 4 is firstly arranged on a 0-level flat plate, and four measured planes of the calibration frame 4 are perpendicular to the 0-level flat plate. After the laser level 8 is installed, the projection points of the light emitted by the laser level 8 on the height scale at any position on the level 0 flat plate are required to be identical in position, and the plane formed by the light emitted by the laser level 8 is ensured to be perpendicular to the four measured planes of the calibration frame 4. The upper measured plane 43 is placed on a 0-level flat plate, the position of the level bubble 7 is adjusted so that the level bubble is centered, and the upper measured plane 43 and the lower measured plane 44 of the calibration frame 4 are ensured to be parallel to the ground, and the left measured plane 41 and the right measured plane 42 are ensured to be perpendicular to the ground.
Before the calibration fixture is used, the supporting plate 1 is placed on the track 13, and the direction marking line 6 is perpendicular to the track 13; the calibration frame 4 is arranged on the side surface of the upright post 31, the laser tracker target ball and the magnetic target ball seat are placed on four measured planes of the calibration frame 4, and finally the platform 2 is placed on the supporting plate 1. The platform 2 is adjusted so that the light emitted by the laser level 8 coincides with one of the direction marking lines 6 on the pallet 1. After the calibration frame 4 is controlled to rise to the target height along the upright 31 by the oil cylinder 321, the height of the universal castor is adjusted so that the water bubble of the level bubble 7 is centered. Because the four measured planes of the calibration frame 4 are perpendicular to the light rays emitted by the laser level 8, the light rays emitted by the laser level 8 coincide with the direction marking lines 6 on the supporting plate 1, and the direction marking lines 6 are perpendicular to the track center line 14, so that the four measured planes of the calibration frame 4 are ensured to be parallel to the track center line 14. Because the laser tracker and the vehicle body contour detection system are based on the track center line 14 when measuring the size of the calibration frame 4 in the calibration process, misalignment exists along the track center line 14 when the laser tracker and the vehicle body contour detection system respectively measure the calibration frame 4, and certain errors can be caused if the misalignment is not parallel. The leveling bubble 7 on the calibration frame 4 is parallel to the ground, the left measured plane 41 and the right measured plane 42 of the calibration frame 4 are perpendicular to the leveling bubble 7, and the upper measured plane 43 is parallel to the leveling bubble 7, so that the left measured plane 41 and the right measured plane 42 of the calibration frame 4 are perpendicular to the ground, and the upper measured plane 43 and the lower measured plane 44 are parallel to the ground.
When the calibration tool is used for calibration, the laser tracker and the vehicle body contour detection system simultaneously measure four measured planes of the calibration frame 4, and then consistency of detection values is compared. The horizontal position of the platform 2 is adjusted, and the height of the calibration frame 4 is adjusted through the oil cylinder 321, so that the calibration tool can realize the calibration on any level.
The foregoing examples are set forth in order to provide a more thorough description of the present invention, and are not intended to limit the scope of the invention, since modifications of the present invention, in which equivalents thereof will occur to persons skilled in the art upon reading the present invention, are intended to fall within the scope of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides a calibration frock of rail vehicle automobile body profile detection system which characterized in that: comprises a supporting plate (1) with an upper surface, a horizontally movable platform (2), a lifting unit (3) and a calibration frame (4);
the lifting part (9) is arranged on the platform (2), and the lifting part (9) can adjust the height of the platform (2) in the vertical direction;
the upper surface of the supporting plate (1) is parallel to the plane where the track (13) is located, and a plurality of parallel direction marking lines (6) are arranged on the upper surface of the supporting plate (1), and when the calibrated tool is used, the direction marking lines (6) are perpendicular to the track (13);
the lifting unit (3) comprises an upright post (31) and a control part (32), and the upright post (31) is arranged at the top of the platform (2);
the calibration frame (4) is a rectangular frame structure formed by surrounding four measured planes, and is vertically fixed on one side of the upright post (31);
a level bubble (7) is arranged on a measured plane at the bottom of the calibration frame (4), and a laser level meter (8) is arranged in the calibration frame (4);
the control part (32) can control the calibration frame (4) to move up and down along the upright post (31).
2. The calibration fixture for a rail vehicle body contour detection system of claim 1, wherein: a positioning plate (5) is arranged on the lower surface of the supporting plate (1), and the positioning plate (5) is perpendicular to the direction marking line (6); when the calibration tool is used, the positioning plate (5) is parallel to the track (13).
3. The calibration fixture for a rail vehicle body contour detection system of claim 1, wherein: the lifting part (9) is a lockable and height-adjustable universal castor.
4. The calibration fixture for a rail vehicle body contour detection system of claim 1, wherein: a linear guide rail (33) is arranged on the side face of the upright post (31), and the control part (32) can control the calibration frame (4) to move up and down along the linear guide rail (33).
5. The calibration fixture for a rail vehicle body contour detection system of claim 4, wherein: the control part (32) comprises an oil cylinder (321) and a control box (322), and the control box (322) is electrically connected with the oil cylinder (321); the oil cylinder (321) can control the calibration frame (4) to move up and down along the linear guide rail (33), and the control box (322) can control the expansion and contraction amount of the oil cylinder (321).
6. The calibration fixture for a rail vehicle body contour detection system of claim 1, wherein: the calibration frame (4) is made of magnetic materials.
7. A method for calibrating a calibration fixture based on the rail vehicle body contour detection system according to any one of claims 1 to 6, characterized in that: the method comprises the following steps:
step S1: before the calibration frame (4) is mounted on the upright post (31), the mounting positions of the level bubble (7) and the laser level meter (8) on the calibration frame (4) are required to be adjusted, so that the water bubble in the level bubble (7) is centered and the light rays emitted by the laser level meter (8) are perpendicular to four measured planes of the calibration frame (4);
step S2: the supporting plate (1) is placed on the track (13) and enables the direction marking line (6) to be perpendicular to the track (13); placing a platform (2) on the supporting plate (1), mounting a calibration frame (4) on the side surface of the upright post (31), and placing a laser tracker target ball on four detected planes of the calibration frame (4);
step S3: the position of the platform (2) on the supporting plate (1) is adjusted, so that the light rays emitted by the laser level meter (8) are overlapped with the direction marking line (6); after the standard frame (4) is lifted to the target height by the control part (32), the lifting part (9) is adjusted to center the water bubble in the level bubble (7);
step S4: testing four tested planes of the calibration frame (4) through each camera and each laser tracker in the vehicle body contour detection system respectively, and comparing the consistency of the tested indication values;
step S5: and (3) adjusting the position of the platform (2) on the supporting plate (1) and the height of the calibration frame (4) on the upright post (31), and repeating the steps S3 and S4.
8. The calibration method according to claim 7, characterized in that: in the step S1, the specific steps are as follows:
step S11: the side face of the calibration frame (4) is placed on a 0-level flat plate, four measured planes of the calibration frame (4) are perpendicular to the 0-level flat plate, and the laser level meter (8) is installed in the calibration frame (4) so that the projection point positions of light rays emitted by the laser level meter (8) on a height scale at any position on the 0-level flat plate are the same;
step S12: the calibration frame (4) is placed on a level 0 flat plate, so that a measured plane provided with the level bubble (7) is parallel to the level 0 flat plate, and the position of the level bubble (7) is adjusted, so that the level bubble of the level bubble (7) is centered.
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| CN106019247A (en) * | 2016-05-19 | 2016-10-12 | 北京环境特性研究所 | Method for correcting circular motion orientation error of carrying platform of object spectrum RCS measuring system |
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| CN102602425B (en) * | 2012-03-29 | 2014-10-29 | 天津大学 | Locomotive limiting system and calibration method thereof |
| DE102012020953B4 (en) * | 2012-10-25 | 2016-03-10 | LASE Industrielle Lasertechnik GmbH | 3D laser scan measuring system for determining the position in which an ISO container is to be placed on a carrier vehicle |
| JP6027480B2 (en) * | 2013-03-29 | 2016-11-16 | 株式会社日立ハイテクノロジーズ | Trajectory inspection method and apparatus |
| CN107685747B (en) * | 2017-07-26 | 2019-05-14 | 同济大学 | A kind of railway freight train limit automatic detection device |
| US11610337B2 (en) * | 2019-02-17 | 2023-03-21 | Purdue Research Foundation | Calibration of cameras and scanners on UAV and mobile platforms |
| CN110360947A (en) * | 2019-06-24 | 2019-10-22 | 广州市奥特创通测控技术有限公司 | A kind of vehicle's contour measurement method based on vector image measurement |
| CN112432610A (en) * | 2020-12-01 | 2021-03-02 | 株洲中车特种装备科技有限公司 | Train clearance detection device and detection method |
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| CN106019247A (en) * | 2016-05-19 | 2016-10-12 | 北京环境特性研究所 | Method for correcting circular motion orientation error of carrying platform of object spectrum RCS measuring system |
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