CN115077423B - Portable high-speed turnout detection trolley and method based on line laser technology - Google Patents
Portable high-speed turnout detection trolley and method based on line laser technology Download PDFInfo
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- CN115077423B CN115077423B CN202210682509.3A CN202210682509A CN115077423B CN 115077423 B CN115077423 B CN 115077423B CN 202210682509 A CN202210682509 A CN 202210682509A CN 115077423 B CN115077423 B CN 115077423B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/10—Railway inspection trolleys hand or foot propelled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
Abstract
The invention discloses a portable high-speed turnout detection trolley and a method based on a line laser technology, belonging to the technical field of rail transit detection, wherein the trolley comprises a pulley, a first base, a second base, a base beam, a hand push rod, a lithium battery power supply module, a first camera, a line laser module, a second camera, a line laser module, a first encoder, a second encoder and an image information processor; the invention solves the problem of insufficient detection of the existing track detection trolley in the turnout area, realizes the detection of the profile and the geometric parameters of the variable-section steel rail in the turnout area through the continuous movement of the portable trolley, and simultaneously acquires other information such as the profile of the steel rail, the light band of the steel rail and the like.
Description
Technical Field
The invention belongs to the technical field of rail transit detection, and particularly relates to a portable high-speed turnout detection trolley and a method based on a line laser technology.
Background
The precise measurement of the turnout geometrical parameters in China usually adopts a track geometrical state measuring instrument, and the model used by the method is a track measuring model, so that the turnout characteristics are not fully considered.
The conventional turnout geometrical parameter detection generally utilizes a rail static geometrical parameter rail detection trolley, but the rail static geometrical parameter rail detection trolley cannot detect geometrical parameters of a variable-section steel rail in a turnout area, and the conventional rail detection trolley can only measure the geometrical parameters of the rail and cannot give consideration to measurement of other information such as a steel rail profile, a steel rail light band and the like; therefore, the portable high-speed turnout detection trolley which can realize measuring geometrical parameters of the track and other information such as a steel rail profile, a steel rail light band and the like is urgently needed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the portable high-speed turnout detection trolley and the method based on the line laser technology, which solve the problem that the conventional track detection trolley is insufficient in turnout zone detection.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that:
the invention provides a portable high-speed turnout detection trolley based on a line laser technology, which comprises:
a pulley for supporting the first and second pedestals and traveling on the high-speed rail;
the first base is used for bearing a base beam, a first camera, a line laser module and a first encoder;
the second base is used for bearing a base beam, a second camera, a line laser module and a second encoder;
the base beam is used for stably advancing according to stress after being fixedly connected with the hand push rod, keeping the first base and the second base to synchronously advance, and bearing the lithium battery power supply module;
the hand push rod is used for driving the base cross beam, the first base, the second base and the wheel to slide under stress;
the lithium battery power supply module is used for supplying power to the first camera and line laser module, the second camera and line laser module, the first encoder, the second encoder and the image information processor;
the first camera and line laser module is used for shooting first steel rails with different angles close to the first base side to obtain a plurality of first steel rail checkerboard images with complete black and white checkerboard calibration plates and first steel rail line laser contour images;
the second camera and line laser module is used for shooting second steel rails with different angles close to the second base side to obtain a plurality of second steel rail checkerboard images with complete black and white checkerboard calibration plates and second steel rail line laser contour images;
the first encoder is used for acquiring and encoding each first steel rail checkerboard image and each first steel rail line laser contour image to obtain a plurality of encoded first steel rail checkerboard images and first steel rail line laser contour images;
the second encoder is used for acquiring and encoding each second steel rail checkerboard image and each second steel rail line laser contour image to obtain a plurality of encoded second steel rail checkerboard images and second steel rail line laser contour images;
and the image information processor is used for respectively acquiring and processing the coded first steel rail checkerboard image, the first steel rail line laser contour image, the second steel rail checkerboard image and the second steel rail line laser contour image, and acquiring three-dimensional data of the surfaces of the first steel rail and the second steel rail based on the first laser stripe image and the second laser stripe image.
The invention has the beneficial effects that: the invention provides a portable high-speed turnout detection trolley based on a line laser technology, which is built into a common turnout detection trolley through a pulley, a first base, a second base, a base beam and a hand push rod, and is additionally provided with a lithium battery power supply module, a first camera and line laser module, a first encoder, a second camera and line laser module, a second encoder and an image information processor on the basis, so that steel rail images acquired through the camera and line laser module are processed through the encoder, the encoded steel rail images are processed through the image information processor, three-dimensional data of the surface of a first steel rail and three-dimensional data of the surface of a second steel rail are finally obtained, the variable cross section steel rail profile and geometric parameters of a turnout area are rapidly detected through continuous movement of the portable trolley, and other information such as the steel rail profile, a steel rail light band and the like are acquired at the same time.
Further, the first camera and line laser module comprises:
the first line laser emitter is used for projecting a laser plane to the surface of the first steel rail to obtain a first laser stripe on the surface of the first steel rail;
the first camera is used for shooting first steel rails at different angles close to the first base side to obtain a plurality of first steel rail checkerboard images with complete black and white checkerboard calibration plates and first steel rail line laser contour images, and obtaining first laser stripe images based on first laser stripe collection.
The beneficial effect of adopting the above further scheme is that: the laser plane is projected to the first steel rail through the first laser emitter, the first laser stripe images are acquired through the first camera, the first steel rail at different angles is shot through the first camera, a plurality of first steel rail checkerboard images with complete black and white checkerboard calibration plates and first steel rail line laser contour images are acquired, and a foundation is provided for acquiring three-dimensional data of the surface of the first steel rail.
Further, the second camera and line laser module comprises:
the second line laser emitter is used for projecting a laser plane to the surface of the second steel rail to obtain a second laser stripe on the surface of the second steel rail;
and the second camera is used for shooting second steel rails with different angles close to the second base side to obtain a plurality of second steel rail checkerboard images with complete black and white checkerboard calibration plates and second steel rail line laser contour images, and obtaining second laser stripe images based on second laser stripe acquisition.
The beneficial effect of adopting the further scheme is as follows: and projecting a laser plane to the surface of the second steel rail through a second laser emitter, acquiring a second laser stripe image by using a second camera, shooting the second steel rail at different angles through a second camera, and obtaining a plurality of second steel rail checkerboard images with complete black and white checkerboard calibration plates and second steel rail line laser contour images so as to provide a foundation for obtaining three-dimensional data of the surface of the second steel rail.
The invention also provides a detection method of the portable high-speed turnout detection trolley based on the line laser technology, which comprises the following steps:
s1, supplying power to a first camera and line laser module, a second camera and line laser module, a first encoder, a second encoder and an image information processor by starting a lithium battery power supply module;
s2, pushing the hand push rod to drive the base cross beam, the first base, the second base and the pulley to stably advance, and continuously shooting the first steel rail and the second steel rail by utilizing the first camera, the line laser module and the second camera module respectively to obtain a dry first steel rail checkerboard image, a first steel rail line laser contour image, a second steel rail checkerboard image and a second steel rail line laser contour image if the dry first steel rail checkerboard image, the first steel rail line laser contour image, the second steel rail checkerboard image and the second steel rail line laser contour image are provided with a complete black and white checkerboard calibration plate;
s3, coding and processing each first steel rail checkerboard image, each first steel rail line laser contour image, each second steel rail checkerboard image and each second steel rail line laser contour image by using a first coder and a second coder respectively to obtain a plurality of coded first steel rail checkerboard images, first steel rail line laser contour images, second steel rail checkerboard images and second steel rail line laser contour images;
and S4, respectively acquiring and processing the coded first steel rail checkerboard image, the first steel rail line laser contour image, the second steel rail checkerboard image and the second steel rail line laser contour image by using the image information processor to obtain three-dimensional data of the surfaces of the first steel rail and the second steel rail.
The beneficial effect of adopting the further scheme is as follows: the invention provides a detection method of a portable high-speed turnout detection trolley based on a line laser technology, which is a corresponding detection method of the portable high-speed turnout detection trolley based on the line laser technology and is used for detecting and acquiring surface three-dimensional data of a high-speed turnout steel rail.
Further, the step S4 includes the steps of:
s41, respectively acquiring and processing each coded first steel rail checkerboard image and second steel rail checkerboard image by using an image information processor, and detecting and counting corner point addition results of each first steel rail checkerboard image and each second steel rail checkerboard image;
s42, performing radial distortion and tangential distortion processing on the first camera and the second camera based on the angle point measuring result of each first steel rail checkerboard image and each second steel rail checkerboard image to obtain distortion functions of the first camera and the second camera;
s43, respectively acquiring and processing the first steel rail line laser contour image and the second steel rail line laser contour image after each code by using an image information processor to obtain a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system;
s44, obtaining a normalized three-dimensional camera coordinate system based on a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system and distortion functions of a first camera and a second camera;
and S45, obtaining three-dimensional data of the surfaces of the first steel rail and the second steel rail based on the normalized three-dimensional camera coordinate system.
The beneficial effect of adopting the further scheme is as follows: the image information processor is used for respectively acquiring and processing the coded first steel rail checkerboard image, the first steel rail line laser contour image, the second steel rail checkerboard image and the second steel rail line laser contour image to obtain three-dimensional data of the surfaces of the first steel rail and the second steel rail, continuous movement of the portable trolley is achieved, the variable cross section steel rail profile and the geometric parameters of the turnout area are detected, and meanwhile, acquisition of other information such as the steel rail profile and the steel rail light band is considered.
Further, the step S41 includes the steps of:
s411, respectively acquiring the coded first steel rail checkerboard image and the coded second steel rail checkerboard image by using an image information processor;
s412, correspondingly dividing each coded first steel rail checkerboard image and second steel rail checkerboard image into a plurality of first steel rail checkerboard subimages and second steel rail checkerboard subimages respectively;
s413, calculating a binarization threshold value of each first steel rail checkerboard subimage and each second steel rail checkerboard subimage based on a Gaussian weighted average method, and obtaining a plurality of first gray value images of the first steel rail checkerboard subimages and the second steel rail checkerboard subimages, wherein the gray values of the first steel rail checkerboard subimages and the second steel rail checkerboard subimages are represented by 0 and 255 based on the binarization threshold value;
s413, based on an image opening operation principle, corroding and expanding each first gray value image to obtain a second gray value image separated by a checkerboard connection part;
s414, deleting all the pixels with the gray value of 255 in the second image by using a traversal scanning method to obtain a plurality of third gray value images only comprising square image blocks with the gray value of 0;
s415, taking the pixel coordinates of the joint part of the adjacent square blocks as the corner points, and extracting the intersection points of the square blocks based on a sub-pixel corner point detection method;
and S416, adjusting the brightness of each third gray value image, and obtaining the angular point measuring result of each first steel rail checkerboard image and each second steel rail checkerboard image based on the intersection point of each square block.
The beneficial effect of adopting the further scheme is as follows: and processing the first steel rail checkerboard image and the second steel rail checkerboard image through gray level binarization to obtain an angular point addition measurement result of each first steel rail checkerboard image and each second steel rail checkerboard image, and providing a basis for obtaining distortion functions of the first camera and the second camera.
Further, the step S43 includes the steps of:
s431, respectively acquiring the first steel rail line laser contour image and the second steel rail line laser contour image after each code by using an image information processor;
s432, calibrating the first camera and the second camera based on a complete black-and-white checkerboard calibration plate according to a Zhang calibration method;
and S433, obtaining a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system based on the calibrated first camera and the calibrated second camera.
The beneficial effect of adopting the further scheme is as follows: and obtaining a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system by obtaining and processing the first steel rail line laser contour image and the second steel rail line laser contour image which are coded, and providing a basis for obtaining a normalized three-dimensional camera coordinate system.
Further, the step S433 includes the steps of:
s4331, calculating a relation model of a three-dimensional camera coordinate system and a three-dimensional world coordinate system based on the calibrated first camera and the calibrated second camera:
wherein R represents a 3 × 3 rotation matrix of the three-dimensional camera coordinate system rotated around the three-dimensional world coordinate system, T represents a translation vector, and x c 、y c And z c Respectively representing the X-axis direction coordinate, the Y-axis direction coordinate and the Z-axis direction coordinate of a three-dimensional point in a three-dimensional camera coordinate system, 0 T Representing the transpose of the zero matrix, x w 、y w And z w Respectively representing X-axis direction coordinates, Y-axis direction coordinates and Z-axis direction coordinates of three-dimensional points in a three-dimensional world coordinate system;
s4332, based on the pinhole imaging principle, normalizing the Z axis of the three-dimensional camera coordinate system to obtain a relation model between the two-dimensional image physical coordinate system and the three-dimensional camera coordinate system:
wherein x is s And y s Respectively representing X-axis direction coordinates and Y-axis direction coordinates of a three-dimensional point in a two-dimensional image physical coordinate system, f representsA camera focal length of the first camera and the second camera;
s4333, obtaining a relation model of a two-dimensional image pixel coordinate system and a two-dimensional image physical coordinate system through translation and scaling principles:
wherein u and v represent X-axis direction coordinates and Y-axis direction coordinates of a three-dimensional point in a two-dimensional image pixel coordinate system, respectively, and d x And d y Respectively representing the actual physical size of the unit pixel in the X-axis direction and the actual physical size of the unit pixel in the Y-axis direction;
s4334, obtaining a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system based on a relation model of the three-dimensional camera coordinate system and the three-dimensional world coordinate system, a relation model of the two-dimensional image physical coordinate system and the three-dimensional camera coordinate system and a relation model of the two-dimensional image pixel coordinate system and the two-dimensional image physical coordinate system:
the beneficial effect of adopting the further scheme is as follows: a method for obtaining a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system through calculation is provided, and a basis is provided for obtaining a normalized three-dimensional camera coordinate system.
Further, the step S44 includes the steps of:
s441, taking the plane of the complete black-and-white chessboard pattern calibration plate as a plane with the height of 0, and obtaining a homography matrix based on a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system;
s442, processing the homography matrix and distortion functions of the first camera and the second camera according to a metamorphic method, a maximum likelihood estimation method and a least square method to obtain an internal parameter matrix, an external parameter matrix and a distortion coefficient of the first camera and the second camera;
s443, obtaining a normalized three-dimensional camera coordinate system based on the internal reference matrix, the external reference matrix and the distortion coefficient of the first camera and the second camera.
The beneficial effect of adopting the further scheme is as follows: and providing a normalized three-dimensional camera coordinate system acquisition method, and providing a basis for obtaining three-dimensional data of the surfaces of the first steel rail and the second steel rail.
Further, the step S45 includes the steps of:
s451, correspondingly projecting laser planes to the surfaces of the first steel rail and the second steel rail by using a first line laser transmitter and a second line laser transmitter respectively to obtain a first laser stripe on the surface of the first steel rail and a second laser stripe on the surface of the second steel rail;
s452, acquiring a first laser stripe image and a second laser stripe image respectively by using a first camera and a second camera correspondingly based on the first laser stripe and the second laser stripe;
s453, respectively and sequentially carrying out Gaussian filtering, canny operator edge detection and a bithreshold method on the first laser stripe image and the second laser stripe image to eliminate false edges to obtain a first stripe edge detection result, a first laser stripe image center, a second stripe edge detection result and a second laser stripe image center;
s454, obtaining characteristic points of the laser plane based on the cross ratio principle, and obtaining a laser plane equation by utilizing the RANSAC principle;
s455, respectively calculating three-dimensional coordinates of points on the first laser stripe image and the second laser stripe image in a three-dimensional world coordinate system based on a laser plane equation, the first stripe edge detection result, the first laser stripe image center, the second stripe edge detection result, the second laser stripe image center and the normalized three-dimensional camera coordinate system;
and S456, obtaining three-dimensional data of the surfaces of the first steel rail and the second steel rail based on three-dimensional coordinates of points on the first laser stripe image and the second laser stripe image in a three-dimensional world coordinate system.
The beneficial effect of adopting the above further scheme is that: and respectively calculating three-dimensional coordinates of points on the first laser stripe image and the second laser stripe image in a three-dimensional world coordinate system based on a laser plane equation, the first stripe edge detection result, the first laser stripe image center, the second stripe edge detection result, the second laser stripe image center and the normalized three-dimensional camera coordinate system, so as to obtain three-dimensional data of the surfaces of the first steel rail and the second steel rail and complete the detection of the portable high-speed turnout detection trolley based on the line laser technology.
Drawings
Fig. 1 is a front view of a portable high-speed turnout detection trolley based on a line laser technology in the embodiment of the invention.
Fig. 2 is a rear view of the portable high-speed turnout detection trolley based on the line laser technology in the embodiment of the invention.
Fig. 3 is a flow chart of steps of a detection method of a portable high-speed turnout detection trolley based on a line laser technology in the embodiment of the invention.
Wherein: 1. a pulley; 2. a first base; 3. a second base; 4. a base beam; 5. a handspike; 6. a lithium battery power supply module; 7. a first camera and a line laser module; 8. a second camera and line laser module; 9. a first encoder; 10. a second encoder; 11. an image information processor.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined by the appended claims, and all changes that can be made by the invention using the inventive concept are intended to be protected.
As shown in fig. 1 and 2, in one embodiment of the present invention, the present invention provides a portable high-speed switch detection trolley based on line laser technology, comprising:
a pulley 1 for supporting the first and second beds 2 and 3 and traveling on a high-speed rail;
the first base 2 is used for bearing a base beam 4, a first camera and line laser module 7 and a first encoder 9;
the second base 3 is used for bearing a base beam 4, a second camera and line laser module 8 and a second encoder (10);
the base beam 4 is used for stably advancing according to stress after being fixedly connected with the hand push rod 5, keeping the first base 2 and the second base 3 to synchronously advance, and bearing the lithium battery power supply module 6;
the hand push rod 5 is used for driving the base cross beam 4, the first base 2, the second base 3 and the roller skate 1 to move forwards under stress;
the lithium battery power supply module 6 is used for supplying power to the first camera and line laser module 7, the second camera and line laser module 8, the first encoder 9, the second encoder 10 and the image information processor 11;
the first camera and line laser module 7 is used for shooting first steel rails with different angles close to the side of the first base 2 to obtain a plurality of first steel rail checkerboard images with complete black and white checkerboard calibration plates and first steel rail line laser contour images;
the first camera and line laser module 7 includes:
the first line laser emitter is used for projecting a laser plane to the surface of the first steel rail to obtain a first laser stripe on the surface of the first steel rail;
the first camera is used for shooting first steel rails with different angles close to the side of the first base 2 to obtain a plurality of first steel rail checkerboard images with complete black and white checkerboard calibration plates and first steel rail line laser contour images, and acquiring first laser stripe images based on first laser stripes;
the second camera and line laser module 8 is used for shooting second steel rails with different angles close to the side of the second base 3 to obtain a plurality of second steel rail checkerboard images with complete black and white checkerboard calibration plates and second steel rail line laser contour images;
the second camera and line laser module 8 includes:
the second line laser emitter is used for projecting a laser plane to the surface of the second steel rail to obtain a second laser stripe on the surface of the second steel rail;
the second camera is used for shooting second steel rails with different angles close to the side of the second base 3 to obtain a plurality of second steel rail checkerboard images with complete black and white checkerboard calibration plates and second steel rail line laser contour images, and acquiring second laser stripe images based on second laser stripes;
the first encoder 9 is used for acquiring and encoding each first steel rail checkerboard image and each first steel rail line laser contour image to obtain a plurality of encoded first steel rail checkerboard images and first steel rail line laser contour images;
the second encoder 10 is configured to acquire and encode each second steel rail checkerboard image and each second steel rail line laser contour image to obtain a plurality of encoded second steel rail checkerboard images and second steel rail line laser contour images;
and the image information processor 11 is configured to obtain and process each encoded first steel rail checkerboard image, first steel rail line laser contour image, second steel rail checkerboard image, and second steel rail line laser contour image, respectively, and obtain three-dimensional data of the surfaces of the first steel rail and the second steel rail based on the first laser stripe image and the second laser stripe image.
The invention provides a portable high-speed turnout detection trolley based on a line laser technology, which is built into a common turnout detection trolley through a pulley, a first base, a second base, a base cross beam and a hand push rod, and is additionally provided with a lithium battery power supply module, a first camera and line laser module, a first encoder, a second camera and line laser module, a second encoder and an image information processor on the basis, so that a steel rail image acquired through the camera and line laser module is processed through the encoder, the encoded steel rail image is processed through the image information processor, three-dimensional data of the surface of a first steel rail and three-dimensional data of the surface of a second steel rail are finally obtained, the variable cross section steel rail profile and geometric parameters of a turnout area are rapidly detected through continuous movement of the portable trolley, and other information such as the steel rail profile and a steel rail light band are acquired at the same time.
As shown in fig. 3, in another embodiment of the present invention, the present invention further provides a method for detecting a portable high-speed switch detection trolley based on a line laser technology, which comprises the following steps:
s1, supplying power to a first camera and line laser module 7, a second camera and line laser module 8, a first encoder 9, a second encoder 10 and an image information processor 11 by starting a lithium battery power supply module 6;
s2, pushing a hand push rod 5 to drive a base cross beam 4, a first base 2, a second base 3 and a pulley 1 to stably advance, and continuously shooting a first steel rail and a second steel rail by using a first camera and line laser module 7 and a second camera module 8 respectively to obtain a first steel rail checkerboard image, a first steel rail line laser outline image, a second steel rail checkerboard image and a second steel rail line laser outline image if a complete black-and-white checkerboard is provided;
s3, coding and processing each first steel rail checkerboard image, each first steel rail line laser contour image, each second steel rail checkerboard image and each second steel rail line laser contour image by using the first coder 9 and the second coder 10 respectively to obtain a plurality of coded first steel rail checkerboard images, a plurality of coded first steel rail line laser contour images, a plurality of coded second steel rail checkerboard images and a plurality of coded second steel rail line laser contour images;
s4, respectively acquiring and processing the coded first steel rail checkerboard image, the first steel rail line laser contour image, the second steel rail checkerboard image and the second steel rail line laser contour image by using the image information processor 11 to obtain three-dimensional data of the surfaces of the first steel rail and the second steel rail;
the step S4 includes the steps of:
s41, respectively acquiring and processing each coded first steel rail checkerboard image and second steel rail checkerboard image by using the image information processor 11, and detecting and counting corner point addition measurement results of each first steel rail checkerboard image and each second steel rail checkerboard image;
the step S41 includes the steps of:
s411, respectively acquiring the coded first steel rail checkerboard image and the coded second steel rail checkerboard image by using the image information processor 11;
s412, correspondingly dividing each coded first steel rail checkerboard image and second steel rail checkerboard image into a plurality of first steel rail checkerboard subimages and second steel rail checkerboard subimages respectively;
s413, calculating a binarization threshold value of each first steel rail checkerboard subimage and each second steel rail checkerboard subimage based on a Gaussian weighted average method, and obtaining a plurality of first gray value images of the first steel rail checkerboard subimage and the second steel rail checkerboard subimage, wherein the first gray value images are represented by gray values of 0 and 255, and the first gray value images are obtained based on the binarization threshold value;
s413, based on an image opening operation principle, corroding and expanding each first gray value image to obtain a second gray value image separated by a checkerboard connection part;
s414, deleting all the pixels with the gray value of 255 in the second image by using a traversal scanning method to obtain a plurality of third gray value images only comprising square image blocks with the gray value of 0;
s415, taking the pixel coordinates of the joint part of the adjacent square blocks as the corner points, and extracting the intersection points of the square blocks based on a sub-pixel corner point detection method;
s416, adjusting the brightness of each third gray value image, and obtaining an angular point addition measurement result of each first steel rail checkerboard image and each second steel rail checkerboard image based on the intersection point of each square pattern block;
s42, performing radial distortion and tangential distortion processing on the first camera and the second camera based on the angle point measurement result of each first steel rail checkerboard image and each second steel rail checkerboard image to obtain distortion functions of the first camera and the second camera;
s43, respectively acquiring and processing the coded first steel rail line laser contour image and the coded second steel rail line laser contour image by using the image information processor 11 to obtain a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system;
the step S43 includes the steps of:
s431, respectively acquiring the first rail line laser contour image and the second rail line laser contour image after each code by using the image information processor 11;
s432, calibrating the first camera and the second camera based on a complete black-and-white checkerboard calibration plate according to a Zhang calibration method;
s433, obtaining a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system based on the calibrated first camera and the calibrated second camera;
the step S433 includes the steps of:
s4331, calculating a relation model of a three-dimensional camera coordinate system and a three-dimensional world coordinate system based on the calibrated first camera and the calibrated second camera:
wherein R represents a 3 × 3 rotation matrix of the three-dimensional camera coordinate system rotated around the three-dimensional world coordinate system, T represents a translation vector, and x c 、y c And z c Respectively representing the X-axis direction coordinate, the Y-axis direction coordinate and the Z-axis direction coordinate of a three-dimensional point in a three-dimensional camera coordinate system, 0 T Representing the transpose of the zero matrix, x w 、y w And z w Respectively representing the X-axis direction coordinate, the Y-axis direction coordinate and the Z-axis direction coordinate of a three-dimensional point in a three-dimensional world coordinate system;
s4332, based on the pinhole imaging principle, normalizing the Z axis of the three-dimensional camera coordinate system to obtain a relation model between the two-dimensional image physical coordinate system and the three-dimensional camera coordinate system:
wherein x is s And y s Respectively representing X-axis direction coordinates and Y-axis direction coordinates of three-dimensional points in a two-dimensional image physical coordinate system, and f represents camera focal lengths of a first camera and a second camera;
s4333, obtaining a relation model of a two-dimensional image pixel coordinate system and a two-dimensional image physical coordinate system through translation and scaling principles:
wherein u and v represent X-axis direction coordinates and Y-axis direction coordinates of a three-dimensional point in a two-dimensional image pixel coordinate system, respectively, and d x And d y Respectively representing the actual physical size of the unit pixel in the X-axis direction and the actual physical size of the unit pixel in the Y-axis direction;
s4334, obtaining a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system based on a relation model of the three-dimensional camera coordinate system and the three-dimensional world coordinate system, a relation model of the two-dimensional image physical coordinate system and the three-dimensional camera coordinate system and a relation model of the two-dimensional image pixel coordinate system and the two-dimensional image physical coordinate system:
s44, obtaining a normalized three-dimensional camera coordinate system based on a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system and distortion functions of a first camera and a second camera;
the step S44 includes the steps of:
s441, taking the plane of the complete black-and-white chessboard pattern calibration plate as a plane with the height of 0, and obtaining a homography matrix based on a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system;
s442, processing the homography matrix and distortion functions of the first camera and the second camera according to a metamorphic method, a maximum likelihood estimation method and a least square method to obtain an internal parameter matrix, an external parameter matrix and a distortion coefficient of the first camera and the second camera;
s443, obtaining a normalized three-dimensional camera coordinate system based on the internal reference matrix, the external reference matrix and the distortion coefficient of the first camera and the second camera;
s45, obtaining three-dimensional data of the surfaces of the first steel rail and the second steel rail based on the normalized three-dimensional camera coordinate system;
the step S45 includes the steps of:
s451, correspondingly projecting laser planes to the surfaces of the first steel rail and the second steel rail by using a first line laser transmitter and a second line laser transmitter respectively to obtain a first laser stripe on the surface of the first steel rail and a second laser stripe on the surface of the second steel rail;
s452, acquiring a first laser stripe image and a second laser stripe image respectively by using a first camera and a second camera correspondingly based on the first laser stripe and the second laser stripe;
s453, respectively and sequentially carrying out Gaussian filtering, canny operator edge detection and a bithreshold method on the first laser stripe image and the second laser stripe image to eliminate false edges to obtain a first stripe edge detection result, a first laser stripe image center, a second stripe edge detection result and a second laser stripe image center;
s454, obtaining characteristic points of the laser plane based on the cross ratio principle, and obtaining a laser plane equation by utilizing the RANSAC principle;
s455, respectively calculating three-dimensional coordinates of points on the first laser stripe image and the second laser stripe image in a three-dimensional world coordinate system based on a laser plane equation, the first stripe edge detection result, the first laser stripe image center, the second stripe edge detection result, the second laser stripe image center and the normalized three-dimensional camera coordinate system;
and S456, obtaining three-dimensional data of the surfaces of the first steel rail and the second steel rail based on the three-dimensional coordinates of the points on the first laser stripe image and the second laser stripe image in the three-dimensional world coordinate system.
The invention provides a detection method of a portable high-speed turnout detection trolley based on a line laser technology, which is a corresponding detection method of the portable high-speed turnout detection trolley based on the line laser technology and is used for detecting and acquiring surface three-dimensional data of a high-speed turnout steel rail; the portable high-speed turnout detection trolley based on the line laser technology can execute the technical scheme shown in the method embodiment, the implementation principle and the beneficial effect are similar, and the detailed description is omitted here.
Claims (10)
1. The utility model provides a portable high-speed switch detects dolly based on line laser technique which characterized in that includes:
a pulley (1) for supporting the first chassis (2) and the second chassis (3) and traveling on a high-speed rail;
the first base (2) is used for bearing a base beam (4), a first camera, a line laser module (7) and a first encoder (9);
the second base (3) is used for bearing a base beam (4), a second camera, a line laser module (8) and a second encoder (10);
the base beam (4) is used for stably advancing according to stress after being fixedly connected with the hand push rod (5), keeping the first base (2) and the second base (3) to synchronously advance, and bearing the lithium battery power supply module (6);
the hand push rod (5) is used for driving the base cross beam (4), the first base (2), the second base (3) and the pulley (1) to move forwards under stress;
the lithium battery power supply module (6) is used for supplying power to the first camera and line laser module (7), the second camera and line laser module (8), the first encoder (9), the second encoder (10) and the image information processor (11);
the first camera and line laser module (7) is used for projecting a laser plane to the surface of the first steel rail to obtain a first laser stripe image, shooting the first steel rail at different angles close to the side of the first base (2) and obtaining a plurality of first steel rail checkerboard images with complete black and white checkerboard calibration plates and first steel rail line laser contour images;
the second camera and line laser module (8) is used for projecting a laser plane to the surface of the second steel rail to obtain a second laser stripe image, shooting second steel rails with different angles close to the side of the second base (3) and obtaining a plurality of second steel rail checkerboard images with complete black and white checkerboard calibration plates and second steel rail line laser contour images;
the first encoder (9) is used for acquiring and encoding each first steel rail checkerboard image and each first steel rail line laser contour image to obtain a plurality of encoded first steel rail checkerboard images and first steel rail line laser contour images;
the second encoder (10) is used for acquiring and encoding each second steel rail checkerboard image and each second steel rail line laser contour image to obtain a plurality of encoded second steel rail checkerboard images and second steel rail line laser contour images;
and the image information processor (11) is used for respectively acquiring and processing the coded first steel rail checkerboard image, the first steel rail line laser contour image, the second steel rail checkerboard image and the second steel rail line laser contour image, and acquiring three-dimensional data of the surfaces of the first steel rail and the second steel rail based on the first laser stripe image and the second laser stripe image.
2. The portable high-speed turnout detection trolley based on line laser technology according to claim 1, characterized in that said first camera and line laser module (7) comprises:
the first line laser emitter is used for projecting a laser plane to the surface of the first steel rail to obtain a first laser stripe on the surface of the first steel rail;
the first camera is used for shooting first steel rails with different angles close to the first base (2) side to obtain a plurality of first steel rail checkerboard images with complete black and white checkerboard calibration plates and first steel rail line laser contour images, and obtaining first laser stripe images based on first laser stripe collection.
3. The portable high-speed turnout detection trolley based on line laser technology according to claim 2, characterized in that the second camera and line laser module (8) comprises:
the second line laser emitter is used for projecting a laser plane to the surface of the second steel rail to obtain a second laser stripe on the surface of the second steel rail;
and the second camera is used for shooting second steel rails with different angles close to the second base (3) side to obtain a plurality of second steel rail checkerboard images with complete black and white checkerboard calibration plates and second steel rail line laser contour images, and obtaining second laser stripe images based on second laser stripe acquisition.
4. A method for detecting a portable high-speed turnout detection trolley based on line laser technology according to any one of claims 1-3, comprising the following steps:
s1, a lithium battery power supply module (6) is started to supply power to a first camera and line laser module (7), a second camera and line laser module (8), a first encoder (9), a second encoder (10) and an image information processor (11);
s2, pushing a hand push rod (5) to drive a base cross beam (4), a first base (2), a second base (3) and a pulley (1) to stably advance, and continuously shooting a first steel rail and a second steel rail by utilizing a first camera and line laser module (7) and a second camera and line laser module (8) respectively to obtain a first steel rail checkerboard image, a first steel rail line laser outline image, a second steel rail checkerboard image and a second steel rail line laser outline image if a complete black-and-white checkerboard calibration plate is arranged;
s3, coding each first steel rail checkerboard image, each first steel rail line laser contour image, each second steel rail checkerboard image and each second steel rail line laser contour image by using a first coder (9) and a second coder (10) respectively to obtain a plurality of coded first steel rail checkerboard images, first steel rail line laser contour images, second steel rail checkerboard images and second steel rail line laser contour images;
and S4, respectively acquiring and processing the coded first steel rail checkerboard image, the first steel rail line laser contour image, the second steel rail checkerboard image and the second steel rail line laser contour image by using the image information processor (11) to obtain three-dimensional data of the surfaces of the first steel rail and the second steel rail.
5. The method for detecting the portable high-speed turnout detection trolley based on the line laser technology as claimed in claim 4, wherein the step S4 comprises the following steps:
s41, respectively acquiring and processing each coded first steel rail checkerboard image and second steel rail checkerboard image by using an image information processor (11), and detecting and counting corner point addition measurement results of each first steel rail checkerboard image and each second steel rail checkerboard image;
s42, performing radial distortion and tangential distortion processing on the first camera and the second camera based on the angle point measurement result of each first steel rail checkerboard image and each second steel rail checkerboard image to obtain distortion functions of the first camera and the second camera;
s43, respectively acquiring and processing the coded first steel rail line laser contour image and the coded second steel rail line laser contour image by using an image information processor (11) to obtain a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system;
s44, obtaining a normalized three-dimensional camera coordinate system based on a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system and distortion functions of a first camera and a second camera;
and S45, obtaining three-dimensional data of the surfaces of the first steel rail and the second steel rail based on the normalized three-dimensional camera coordinate system.
6. The method for detecting the portable high-speed turnout detection trolley based on the line laser technology as claimed in claim 5, wherein the step S41 comprises the following steps:
s411, respectively acquiring the coded first steel rail checkerboard image and the coded second steel rail checkerboard image by using an image information processor (11);
s412, correspondingly dividing each coded first steel rail checkerboard image and second steel rail checkerboard image into a plurality of first steel rail checkerboard subimages and second steel rail checkerboard subimages respectively;
s413, calculating a binarization threshold value of each first steel rail checkerboard subimage and each second steel rail checkerboard subimage based on a Gaussian weighted average method, and obtaining a plurality of first gray value images of the first steel rail checkerboard subimages and the second steel rail checkerboard subimages, wherein the gray values of the first steel rail checkerboard subimages and the second steel rail checkerboard subimages are represented by 0 and 255 based on the binarization threshold value;
s413, based on an image opening operation principle, corroding and expanding each first gray value image to obtain a second gray value image separated by a checkerboard connection part;
s414, deleting all the pixels with the gray value of 255 in the second image by using a traversal scanning method to obtain a plurality of third gray value images only comprising square image blocks with the gray value of 0;
s415, taking the pixel coordinates of the joint part of the adjacent square blocks as the corner points, and extracting the intersection points of the square blocks based on a sub-pixel corner point detection method;
and S416, adjusting the brightness of each third gray value image, and obtaining the angular point measuring result of each first steel rail checkerboard image and each second steel rail checkerboard image based on the intersection point of each square block.
7. The method for detecting the portable high-speed turnout detection trolley based on the line laser technology as claimed in claim 6, wherein the step S43 comprises the following steps:
s431, respectively acquiring the first rail line laser contour image and the second rail line laser contour image which are respectively encoded by using an image information processor (11);
s432, calibrating the first camera and the second camera based on a complete black-and-white checkerboard calibration plate according to a Zhang calibration method;
and S433, obtaining a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system based on the calibrated first camera and the calibrated second camera.
8. The method for detecting the portable high-speed turnout detection trolley based on the line laser technology as claimed in claim 7, wherein the step S433 comprises the following steps:
s4331, calculating a relation model of a three-dimensional camera coordinate system and a three-dimensional world coordinate system based on the calibrated first camera and the calibrated second camera:
wherein R represents a 3 × 3 rotation matrix of the three-dimensional camera coordinate system rotated around the three-dimensional world coordinate system, T represents a translation vector, and x c 、y c And z c Respectively representing X-axis direction coordinates and Y-axis direction coordinates of three-dimensional points in three-dimensional camera coordinate systemDirection coordinate and Z-axis direction coordinate, 0 T Denotes the transposition of a zero matrix, x w 、y w And z w Respectively representing the X-axis direction coordinate, the Y-axis direction coordinate and the Z-axis direction coordinate of a three-dimensional point in a three-dimensional world coordinate system;
s4332, based on the pinhole imaging principle, normalizing the Z axis of the three-dimensional camera coordinate system to obtain a relation model between the two-dimensional image physical coordinate system and the three-dimensional camera coordinate system:
wherein x is s And y s Respectively representing X-axis direction coordinates and Y-axis direction coordinates of three-dimensional points in a two-dimensional image physical coordinate system, and f represents camera focal lengths of the first camera and the second camera;
s4333, obtaining a relation model of a two-dimensional image pixel coordinate system and a two-dimensional image physical coordinate system through translation and scaling principles:
wherein u and v represent X-axis direction coordinates and Y-axis direction coordinates of a three-dimensional point in a two-dimensional image pixel coordinate system, respectively, and d x And d y Respectively representing the actual physical size of the unit pixel in the X-axis direction and the actual physical size of the unit pixel in the Y-axis direction;
s4334, obtaining a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system based on a relation model of the three-dimensional camera coordinate system and the three-dimensional world coordinate system, a relation model of the two-dimensional image physical coordinate system and the three-dimensional camera coordinate system and a relation model of the two-dimensional image pixel coordinate system and the two-dimensional image physical coordinate system:
9. the method for detecting the portable high-speed turnout detection trolley based on the line laser technology as claimed in claim 8, wherein the step S44 comprises the following steps:
s441, taking the plane of the complete black-and-white chessboard pattern calibration plate as a plane with the height of 0, and obtaining a homography matrix based on a relation model of a three-dimensional world coordinate system and a two-dimensional image pixel coordinate system;
s442, processing the homography matrix and distortion functions of the first camera and the second camera according to a metamorphic method, a maximum likelihood estimation method and a least square method to obtain an internal parameter matrix, an external parameter matrix and a distortion coefficient of the first camera and the second camera;
s443, obtaining a normalized three-dimensional camera coordinate system based on the internal reference matrix, the external reference matrix and the distortion coefficient of the first camera and the second camera.
10. The method for detecting the portable high-speed turnout detection trolley based on the line laser technology as claimed in claim 9, wherein the step S45 comprises the following steps:
s451, correspondingly projecting laser planes to the surfaces of a first steel rail and a second steel rail by using a first line laser transmitter and a second line laser transmitter respectively to obtain a first laser stripe on the surface of the first steel rail and a second laser stripe on the surface of the second steel rail;
s452, acquiring a first laser stripe image and a second laser stripe image respectively by using a first camera and a second camera correspondingly based on the first laser stripe and the second laser stripe;
s453, respectively and sequentially carrying out Gaussian filtering, canny operator edge detection and a double-threshold value method on the first laser stripe image and the second laser stripe image to eliminate false edges to obtain a first stripe edge detection result, a first laser stripe image center, a second stripe edge detection result and a second laser stripe image center;
s454, obtaining characteristic points of the laser plane based on the cross ratio principle, and obtaining a laser plane equation by utilizing the RANSAC principle;
s455, respectively calculating three-dimensional coordinates of points on the first laser stripe image and the second laser stripe image in a three-dimensional world coordinate system based on a laser plane equation, the first stripe edge detection result, the first laser stripe image center, the second stripe edge detection result, the second laser stripe image center and the normalized three-dimensional camera coordinate system;
and S456, obtaining three-dimensional data of the surfaces of the first steel rail and the second steel rail based on the three-dimensional coordinates of the points on the first laser stripe image and the second laser stripe image in the three-dimensional world coordinate system.
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