CN115406356B - Rail corrugation measuring method - Google Patents
Rail corrugation measuring method Download PDFInfo
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- CN115406356B CN115406356B CN202211357888.5A CN202211357888A CN115406356B CN 115406356 B CN115406356 B CN 115406356B CN 202211357888 A CN202211357888 A CN 202211357888A CN 115406356 B CN115406356 B CN 115406356B
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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
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
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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
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/68—Analysis of geometric attributes of symmetry
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
Abstract
The invention relates to the technical field of visual measurement and image detection, and provides a rail corrugation measuring method, which comprises the following steps: the method comprises the following steps that a plurality of lasers are sequentially arranged on a measuring platform along the length direction of a steel rail, the measuring platform is fixed on a train body of an operating train or a measuring vehicle, the lasers emit a plurality of parallel laser lines to the steel rail, and the laser lines are perpendicular to the length direction of the steel rail; continuously shooting a plurality of laser lines on the steel rail to obtain a plurality of steel rail images in the process that the vehicle body runs on the steel rail, wherein the steel rail of every two adjacent steel rail images has an overlapping area, the overlapping area comprises more than 4 laser lines, and each laser line corresponds to one steel rail same-position point; calculating the distance from the upper surface of the steel rail at the same position of the plurality of steel rails in the overlapping area to the reference plane of the steel rail; and splicing the distances from the upper surfaces of the steel rails at the same positions of the plurality of steel rails in the plurality of overlapped areas to the reference plane of the steel rails to obtain the wave grinding measured value. The method has high precision of measuring the corrugation data.
Description
Technical Field
The invention relates to the technical field of visual measurement and image detection, in particular to a rail corrugation measuring method.
Background
The wavy wear of the steel rail means that the contact surface of the steel rail is longitudinally distributed after the steel rail is put into operation, and a periodic non-uniform irregularity similar to a wavy shape appears, as shown in figure 1. It is now a major form of rail damage and is known as "corrugation". As shown in fig. 2, wavelength and depth of wave are two attribute parameters of the corrugation.
After the wavy abrasion is formed, when a running vehicle passes through a wavy abrasion section, severe vibration can occur to a wheel set, a bogie and the whole vehicle body of the running vehicle, the vibration not only influences the comfort of the vehicle, but also greatly shortens the service life of parts of a vehicle track structure and increases the maintenance cost; if the rail corrugation is serious, large impact force is easily generated when a vehicle passes through the rail, and driving safety accidents such as train load reduction derailment, axle breakage and the like can be caused; in addition, the corrugation is also prone to noise pollution, and accordingly, new environmental problems are brought about.
The existing detection method for the vehicle carrier mill mostly adopts a chord measuring method for measurement. Design and realization of a corrugation detection trolley based on the chord measuring method principle disclose a three-point isochord measuring method, as shown in fig. 3, displacement sensors are respectively installed at axle boxes of three points A, B and C, a chord AB is used as a measuring reference line, a point O is a middle point of the chord AB, and the magnitude of a vector OC is used as a measured value of track irregularity, which is called chord measuring value for short.
However, in the above-mentioned chord measuring method, in the process of measuring the corrugation by the chord measuring method, since the absolute height of the measuring platform and the rail, and the wavelength of the corrugation are not known, and the numerical value of the transfer function is not known, an inaccurate abrasion value is finally obtained by the transfer function, which is an inherent defect in principle. At present, the structure of a measuring chord pair is mainly designed to eliminate the point that the chord measurement amplitude gain is 0, and the whole amplitude gain coefficient is corrected by using inverse filtering to restore the surface waveform of the steel rail, the measured waveform obtained by the inverse filtering scheme is an indirect measuring system which takes a chord measurement value as an input variable and takes the surface waveform of the steel rail as an output variable, the measuring system is greatly influenced by the integrity of input data, and if the measured data cannot contain an integral waveform area, the restored surface waveform of the steel rail has larger deviation.
Therefore, it is desirable to develop a corrugation measurement method to improve the detection accuracy of corrugation measurement.
Disclosure of Invention
The invention aims to provide a corrugation measuring method and improve the detection precision of corrugation measurement.
To solve the above technical problem, as an aspect of the present invention, there is provided a corrugation measuring method including the steps of:
the method comprises the following steps that a plurality of lasers are sequentially arranged on a measuring platform along the length direction of a steel rail, the measuring platform is fixed on a train body of an operating train or a measuring vehicle, the lasers emit a plurality of parallel laser lines to the steel rail, and the laser lines are perpendicular to the length direction of the steel rail;
continuously shooting a plurality of laser lines on the steel rail to obtain a plurality of steel rail images in the process that the vehicle body runs on the steel rail, wherein the steel rail of each two adjacent steel rail images has an overlapping area, the overlapping area comprises more than 4 laser lines, and each laser line corresponds to one steel rail homonymy point;
calculating the distance from the upper surface of the steel rail at the same position of the plurality of steel rails in the overlapping area to the reference plane of the steel rail;
and splicing the distances from the upper surfaces of the steel rails at the same positions of the plurality of steel rails in the plurality of overlapped areas to the reference plane of the steel rails to obtain the wave grinding measured value.
According to an exemplary embodiment of the invention, all laser lines are calibrated before the car body runs on the rails;
the method for calibrating all laser lines comprises the following steps:
and opening one laser every time, calibrating the triangular imaging relation between the opened laser and the camera to obtain k groups of triangular imaging relations, wherein k represents the number of the lasers.
Preferably, the number of lasers is 40-60.
According to an exemplary embodiment of the invention, the vehicle body has a speed of 20-80km/h.
According to an exemplary embodiment of the present invention, the time interval between the capturing of two successive rail images is 0.006-0.03 seconds (33-150 fps). FPS is a definition in the field of images, and refers to the number of frames transmitted per second of a picture, in popular terms, the number of pictures of a motion picture or video. The FPS measures the amount of information used to store and display the motion video. The greater the number of frames per second, the more fluid the displayed motion will be. f in fps is English word Frame, p is Per, and s is Second. Expressed in chinese is how many frames per second, or how many frames per second.
According to an exemplary embodiment of the invention, a plurality of parallel laser lines are arranged at equal intervals.
According to an exemplary embodiment of the invention, the distance between every two adjacent laser lines is 5 mm or less.
According to an exemplary embodiment of the present invention, the method for calculating the distance from the upper surface of the rail to the rail reference plane at the same position of the plurality of rails in the overlapping area comprises:
a representative point is arranged on the measuring platform, and a steel rail reference surface is set and arranged horizontally;
extracting a plurality of laser lines in the overlapping area of the previous steel rail image and a plurality of laser lines in the overlapping area of the next steel rail image;
finding out the intersection points of the central line of the upper surface of the steel rail and the plurality of laser lines, and obtaining the distance between each intersection point and the corresponding laser;
simultaneously establishing more than 4 overlapped region steel rail homothetic point equations, and calculating the inclination angle and the distance from the representative point of the measuring platform of the previous steel rail image to the steel rail reference plane and the inclination angle and the distance from the representative point of the measuring platform of the next steel rail image to the steel rail reference plane;
and obtaining the distance from the upper surface of the steel rail at the same position of the steel rail in the overlapping area to the reference plane of the steel rail according to the inclination angle of the measuring platform of the previous steel rail image and the distance from the representative point to the reference plane of the steel rail or the inclination angle of the measuring platform of the next steel rail image and the distance from the representative point to the reference plane of the steel rail.
According to an example embodiment of the present invention, the method for extracting a plurality of laser lines of an overlapping area of a previous rail image and a plurality of laser lines of an overlapping area of a subsequent rail image includes:
extracting the outlines of a plurality of laser lines in the overlapping area of the previous steel rail image and the next steel rail image according to the gray level distribution area information;
the center line of the profile of each laser line is extracted.
According to an example embodiment of the present invention, the method of obtaining the distance between the corresponding intersection point and the corresponding laser by triangulation includes:
measuring coordinates of the corresponding intersection point under a camera coordinate system are obtained according to the steel rail image through triangulation;
according to the rotation relation between the world coordinate system and the camera coordinate system, the position of the measurement coordinate in the world coordinate system is obtained, and further the distance between the corresponding intersection point and the corresponding laser is obtained;
the rotation relation between the world coordinate system and the camera coordinate system is calibrated, the camera is located at the origin in the world coordinate system and the camera coordinate system, the world coordinate system comprises an X axis, and the camera and the laser are located on the X axis; the camera is arranged on a connecting line of the plurality of lasers.
According to an exemplary embodiment of the invention, the representative point is arranged at a midpoint of the lower surface of the measuring platform.
According to an exemplary embodiment of the present invention, the rail co-location equation is:
wherein h1 represents the distance from the representative point of the previous rail image to the rail reference plane, h2 represents the distance from the representative point of the next rail image to the rail reference plane, and l n Indicating the distance of the laser from the representative point of the previous image，l m Showing the distance from the laser of the next image to the representative point, theta 1 showing the inclination angle of the measurement platform of the previous image, theta 2 showing the inclination angle of the measurement platform of the next image,
indicating the distance of the previous image laser to the intersection point,
the distance from the laser of the latter image to the intersection point is shown, and n and m are natural numbers larger than 0.
According to an exemplary embodiment of the present invention, the method for obtaining the distance from the upper surface of the rail at the same position of the rail in the overlap area to the rail reference plane according to the inclination angle and the distance from the representative point of the measurement platform of the previous rail image or the inclination angle and the distance from the representative point of the measurement platform of the subsequent rail image to the rail reference plane adopts the following formula:
Wherein, the first and the second end of the pipe are connected with each other,
showing the distance from the upper surface of the steel rail at the same position of the steel rail in the previous steel rail image overlapping region to the steel rail reference plane; h1 represents the distance from the previous rail image representative point to the rail reference plane; l. the n Indicating the distance from the laser of the previous image to the representative point; theta 1 represents the inclination angle of the previous image measuring platform;
indicating the distance from the laser of the previous image to the intersection point; n is a natural number greater than 0;
The invention has the beneficial effects that:
according to the scheme, each steel rail image acquires the corrugation measurement data of a plurality of laser lines, the distance from the inclination angle and the representative point of the measurement platform to the steel rail reference plane is calculated through the overlapping area of two adjacent steel rail images, the corrugation data is calculated, the requirement for the sampling frequency of camera equipment in high-speed operation is greatly reduced, the measurement steel rail and the steel rail offset area can be covered, the view field deviation caused by vehicle body shaking is avoided, the measurement method is obtained through direct measurement splicing, no transfer function used in a chord measurement method exists in the measurement process, and the measurement accuracy is high.
Drawings
Fig. 1 schematically shows a schematic representation of the rail corrugation phenomenon.
Fig. 2 schematically shows a structural view of the corrugation.
Fig. 3 schematically shows a measurement schematic of a trigram method.
Fig. 4 schematically shows a block diagram of a corrugation measurement system.
Fig. 5 schematically shows a step diagram of the rail corrugation measurement method of the first embodiment.
Figure 6 schematically shows a schematic view of a rail image taken by a camera.
Fig. 7 schematically shows a schematic view of the centerline of a laser line profile.
Fig. 8 schematically shows a schematic view of a camera coordinate system.
Fig. 9 schematically shows a schematic view of a world coordinate system.
Figure 10 schematically illustrates the relationship of the laser line to the rail datum plane.
Figure 11 shows schematically the relationship between the measuring platform and the rail reference plane.
Fig. 12 schematically shows an enlarged graph of the intersection point to the laser.
Fig. 13 schematically shows a step diagram of a rail corrugation measurement method of a second embodiment.
Wherein, 1-measuring platform, 2-laser, 21-laser line, 211-central line of outline of laser line, 3-connecting structure, 4-camera, 5-control device, 6-rail, O-representative point, h 1-distance from representative point of measuring platform of previous rail image to rail reference plane, x1, x2, once, xn-intersection point of laser and rail track central line, y1, y2, once, yn-distance from upper surface of rail to rail reference plane, d1, d2, once, dn-distance from laser to point on rail track central line, theta 1-inclination angle of previous rail image measuring platform, p 1-projection of representative point O on rail, l 1 n -distance of the laser from the representative point.
Detailed Description
The following detailed description of embodiments of the invention, but the invention can be practiced in many different ways, as defined and covered by the claims.
As a first embodiment of the present invention, there is provided a rail corrugation measuring method using a corrugation measuring system as shown in fig. 4, the corrugation measuring system including: a measuring platform 1, a plurality of lasers 2, a camera 4, a connecting structure 3 and a control device 5.
The measuring platform 1 is positioned above the steel rail 6 and fixed on a vehicle body of a commercial train or a corrugation measuring vehicle, so that the measuring platform 1 moves along the length direction of the steel rail 6 (the running direction of the vehicle body) along with the vehicle body. As shown in fig. 8 and 9, the measuring platform 1 is provided with a representative point O, and preferably, the representative point O is located at the middle point of the lower surface of the measuring platform 1.
The plurality of lasers 2 are fixed on the measuring platform 1, specifically, fixed on the lower surface of the measuring platform 1, so that the laser of the lasers 2 can be emitted to the steel rail 6. The plurality of lasers 2 are sequentially arranged along the length direction of the steel rail 6, as shown in fig. 4, when the measuring platform 1 is horizontally placed, the plurality of lasers 2 vertically emit a plurality of laser lines 21 parallel to each other to the steel rail 6, a vertical dotted line in fig. 4 indicates that the lasers 2 vertically emit laser lines to the steel rail 6, as shown in fig. 6, the laser lines 21 emitted on the steel rail 6 are perpendicular to the length direction of the steel rail 6, and the laser lines 21 located on the steel rail 6 are parallel to each other. When the measurement is carried out, if the measuring platform 1 is inclined, the laser 2 is also inclined by a corresponding angle, the emitting angle of the laser 2 is inclined by a corresponding angle, but the laser lines 21 emitted onto the steel rail 6 are still parallel to each other and still perpendicular to the length direction of the steel rail 6. The plurality of lasers 2 are arranged at equal intervals, and the maximum distance between every two lasers 2 is 5 mm. The number of lasers 2 is preferably 40-60 so that there is an overlapping area of the rail 6 captured by the camera 4. The number of the lasers 2 is large, so that the shooting frequency of the camera 4 can be reduced, and the cost can be reduced by reducing the sampling rate.
The camera 4 is used for shooting a plurality of laser lines 21 on the steel rail 6, as shown in fig. 3, and fig. 3 is an image of the laser lines 21 on the steel rail 6 shot by the camera 4. Preferably, the camera 4 is located in front of or behind the measuring platform 1 in the length direction of the steel rails 6 (running direction of the vehicle body) so that the camera 4 can shoot as many laser lines 21 as possible. The camera 4 is disposed on a line connecting the plurality of lasers 2. Preferably, the camera 4 shooting range includes all laser lines 21.
The connecting structure 3 fixedly connects the camera 4 and the measuring platform 1, so that the relative position of the camera 4 and the measuring platform 1 is fixed.
The control device 5 is communicatively connected with the camera 4 and is used for acquiring the rail image shot by the camera 4 and calculating the corrugation data.
The rail corrugation measuring method is shown in fig. 5 and comprises the following steps:
s1: a plurality of lasers 2 are sequentially installed on a measuring platform 1 along the length direction (vehicle body running direction) of a rail 6, the measuring platform 1 is fixed on the vehicle body of a commercial train or a measuring vehicle, as shown in fig. 6, the plurality of lasers 2 emit a plurality of parallel laser lines 21 to the rail 6, and the laser lines 21 are perpendicular to the length direction of the rail 6.
The number of lasers 2 is preferably 40-60, the number of emitted laser lines 21 being the same as the number of lasers 2. The parallel laser lines 21 are arranged at equal intervals, and the distance between every two adjacent laser lines is less than 5 mm.
The measuring platform 1 is preferably fixed under the bodywork of a commercial train or measuring vehicle.
The operation train is preferably a train with the speed of 20-80km/h.
The measuring vehicle is preferably a trolley or an electrically driven measuring vehicle.
S2: in the process that the vehicle body runs on the steel rail 6, a plurality of laser lines on the steel rail 6 are continuously shot to obtain a plurality of steel rail images, the steel rail 6 of every two adjacent steel rail images has an overlapping area, the overlapping area comprises more than 4 laser lines 21, and each laser line 21 corresponds to one steel rail same-position point.
A rail image is taken of the rail 6 with the camera 4. The camera 4 can dynamically adjust the shooting frame rate based on the running speed of the vehicle (vehicle body), the time interval of continuously shooting the two steel rail images is 0.006-0.03 second (33-150 fps), the steel rail images shot for 2 times continuously are ensured to have an overlapping area, a plurality of steel rail homonymy points exist in the overlapping area, and after calculation, the steel rail homonymy points are irradiated by the line laser 21 in the two steel rail images. The unknowns of solving are 4, and the number of the same steel rail point positions is more than 4. FPS is a definition in the field of images, and refers to the number of frames transmitted per second for a picture, and colloquially to the number of pictures for animation or video. FPS measures the amount of information used to store and display motion video. The more frames per second, the smoother the displayed motion. f in fps is English word Frame, p is Per, and s is Second. In chinese, it is how many frames per second, or how many frames per second.
According to the mileage of the train body, the speed of the train body, the sampling frequency of the camera 4 and the shooting interval, the laser line 21 can be irradiated on the same position point of each steel rail.
Because four unknowns of two rail images before and after are needed to be solved, four equations for solving the unknowns are needed to be simultaneously established by at least four rail homothetic points.
S3: and calculating the distance from the upper surface of the steel rail 6 at the same position of the plurality of steel rails in the overlapping area to the reference plane of the steel rail.
The method for calculating the distance from the upper surface of the steel rail 6 at the same position of a plurality of steel rails in the overlapping area to the reference plane of the steel rail comprises the following steps:
s301: the measuring platform 1 is provided with a representative point O, and the representative point O is arranged at the middle point of the lower surface of the measuring platform 1. A rail reference surface is set, which is horizontally arranged, preferably higher than the bottom surface of the rail 6 and lower than the upper surface of the rail 6.
S302: the plurality of laser lines 21 of the overlapping area of the previous rail image and the plurality of laser lines 21 of the overlapping area of the subsequent rail image are extracted.
Since the shot laser line 21 is thick and the center line of the profile of the laser line 21 needs to be extracted (as shown in fig. 7), the method for extracting the plurality of laser lines in the overlapping area of the previous rail image and the plurality of laser lines in the overlapping area of the next rail image includes:
extracting the outlines of the plurality of laser lines 21 in the overlapping area of the previous and next rail images according to the gray distribution area information; obtaining image coordinates of the outlines of the plurality of laser lines 21;
the centerline 211 of the profile of each laser line 21 is extracted.
S303: finding out the intersection points of the central line of the upper surface of the steel rail 6 and the plurality of laser lines 21 to obtain the distance between the intersection points and the corresponding lasers 2; the track centreline of the rail 6 is a centreline extending along the length of the rail 6.
The intersection points of the rail 6 upper surface midline and the plurality of laser lines 21 are preferably the intersection points of the rail 6 upper surface midline and the center line 211 of the profile of the plurality of laser lines 21, the number of which is the same as the number of laser lines 21.
The method of obtaining the distance of the intersection point from the corresponding laser 2 comprises: laser triangulation or measurement using a distance sensor.
The laser triangulation method includes:
measuring coordinates of the intersection point under a camera coordinate system are obtained through triangulation according to the steel rail image; as shown in fig. 8, the camera coordinate system includes an x axis, a y axis, and a z axis perpendicular to each other, the camera 4 and a laser can form a laser triangulation system, the camera 4 is located at the origin in the camera coordinate system, and the measured coordinates of the intersection point in the camera coordinate system can be obtained according to the triangulation method;
according to the rotation relation between the world coordinate system and the camera coordinate system, the position of the measurement coordinate in the world coordinate system is obtained, and further the distance between the intersection point and the corresponding laser is obtained; the camera 4 is located at the origin in the world coordinate system; the camera 4 is fixedly connected with the measuring platform 1 through the connecting structure 3, the position relation between the camera 4 and the measuring platform is fixed, the rotation relation between a world coordinate system and a camera coordinate system is calibrated, as shown in fig. 9, the world coordinate system comprises an X axis, a Y axis and a Z axis which are perpendicular to each other, and the camera 4 and the plurality of lasers 2 are arranged on the X axis; the distance of the measured coordinates of the intersection point to the X-axis, i.e. the distance of the measured coordinates of the intersection point from the corresponding laser 2, i.e. d1, d2, d1, dn, denotes the distance of the laser 2 from the intersection point (of the laser line 21 and the track centre line of the rail 6). As shown in fig. 12, fig. 12 is an enlarged relationship diagram between the intersection point and the laser 2, and it can be seen from fig. 12 that, since the laser 2 is fixed on the measuring platform 1, when the measuring platform 1 is inclined, the laser 2 is inclined at the same angle, and a laser line is emitted to the steel rail 6 along the dn direction, the laser 2 and the camera 4 are both on the X axis, and the distance between the intersection point and the corresponding laser 2 is the distance between the intersection point and the X axis.
The method for measuring by using the distance sensor comprises the following steps: an eddy current sensor is placed near the laser to measure the distance to the intersection point on the centerline of the rail 6.
S304: and simultaneously establishing more than 4 overlapped region steel rail homothetic point equations, and calculating the inclination angle theta 1 and the distance between the representative point O of the measuring platform 1 of the previous steel rail image and the steel rail reference plane, and the inclination angle theta 2 and the distance between the representative point O of the measuring platform 1 of the next steel rail image and the steel rail reference plane.
In S304, as shown in fig. 10 and 11, in order to more clearly show the calculation process, fig. 10 and 11 exaggerate the amplitude of the corrugation. The uppermost inclined horizontal lines in fig. 10 and 11 represent the measuring platform 1, and the laser 2 on the measuring platform 1 emits a plurality of laser lines 21 towards the rail 6.
p1 is a projection of the representative point O on the track of the steel rail 6, and represents the position of the measurement platform 1 in the track traveling direction. When the corrugation measurement system moves to position p1, an image of the rail is taken. As shown in fig. 10, d1, d2, d1, d denotes the distance of the laser 2 to the intersection point (of the laser line 21 and the track centre line of the rail 6), the distance from the laser 2 to the intersection point is calculated by the camera 4 as an observed value. The rail 6 track centre line is the centre line which extends along the length of the rail 6. x1, x2, x n represent the intersection point of the laser line 21 and the track centerline of the rail 6, i.e. the same location point of each rail. y1, y2, and yn represent the distance from the upper surface of the rail 6 to the rail reference plane. n represents the number of lasers 2, but only the dn value of the overlapping region of two previous and next rail images is calculated during calculation, and the dn value of the previous rail image is used for distinguishing
Indicating the value of dn of the subsequent rail image
And (4) showing. h1 represents the distance from the representative point O of the measuring platform 1 of the previous rail image to the rail reference plane. The inclination angle of the measuring platform 1 is shown as theta 1 by the plane where the representative point O of fig. 9 is parallel to the rail reference plane, where theta 1 represents the inclination angle of the measuring platform 1 in the previous rail image.
Because each laser 2 is on the measuring platform 1, and the inclination angles are the same, the distance formula between each laser 2 and the rail reference plane can be obtained as follows:
wherein, the first and the second end of the pipe are connected with each other,
representDistance between laser 2 and rail reference plane, l n The distance between the laser and the representative point O is shown, h1 is the distance between the representative point O and the reference plane of the steel rail, theta 1 is the inclination angle of the measuring platform 1, and n is a natural number.
Meanwhile, according to the relationship of fig. 12, the distance between the laser 2 and the rail reference plane is further obtained by the following formula:
and (4) converting according to the formula to obtain a formula of the distance from the laser 2 to the intersection point, wherein the formula comprises the following steps:
because of the fact that
Is far greater than
Thus taking separately
Taylor first order expansion of, i.e.
Therefore, the number of the first and second electrodes is increased,
wherein, the first and the second end of the pipe are connected with each other,
the distance from the laser 2 to the intersection point (the same point of the rail) is shown,
showing the distance of the laser 2 from the rail reference plane,
the distance between the upper surface of the steel rail 6 at the steel rail apposition point and the steel rail reference plane is shown, and n is a natural number.
p2 is a projection representing the next position of the point O on the rail track, and represents the position of the measurement platform 1 in the track travel direction.
Similarly, when the corrugation measurement system moves to the next position p2, one steel rail image (namely the next steel rail image) is shot, the previous steel rail image and the next steel rail image are partially overlapped, and the distance formula from the laser 2 to the intersection point is obtained as follows:
wherein the content of the first and second substances,
the distance from the laser 2 to the intersection point (the same point of the rail) is shown,
showing the distance of the laser 2 from the rail datum plane,
and m is a natural number and represents the distance from the upper surface of the steel rail 6 at the same position point of the steel rail to the reference plane of the steel rail. h2 represents the distance from the representative point O of the measuring platform 1 of the next steel rail image to the steel rail reference surface; and theta 2 represents the inclination angle of the subsequent steel rail image measuring platform 1.
According to the train motion state and the collected mileage data, the overlapping area of the corrugation measuring system when the corrugation measuring system moves to the p1 and p2 positions can be found. There are a plurality of same rail points on the overlap area, and the distance from the upper surface of the rail 6 of each point to the rail reference plane is equal, so as to obtain the following formula:
wherein the content of the first and second substances,
the distance between the upper surface of the steel rail 6 at the same position point of the steel rail and the reference plane of the steel rail is shown,
the distance between the upper surface of the steel rail 6 at the same-position point of the steel rail and the reference plane of the steel rail is shown,
and
corresponding to the same steel rail point position.
Substituting the equation set to obtain the steel rail homothetic point equation as follows:
wherein h1 represents the distance from the representative point O of the previous rail image to the rail reference plane, h2 represents the distance from the representative point O of the next rail image to the rail reference plane, and l n Indicating the distance, l, of the laser 2 of the previous image from the representative point O m Showing the distance from the laser 2 of the next image to the representative point O, theta 1 showing the tilt angle of the measuring platform 1 of the previous image, theta 2 showing the tilt angle of the measuring platform 1 of the next image,
showing the distance of the previous image laser 2 to the point of intersection (rail co-location),
the distance from the laser 2 to the intersection point (the same point of the steel rail) is shown, and n and m are natural numbers larger than 0.
S305: and obtaining the distance from the upper surface of the steel rail 6 at the same position of the steel rail in the overlapping area to the steel rail reference plane according to the inclination angle theta 1 of the measuring platform 1 of the previous steel rail image and the distance from the representative point O to the steel rail reference plane or the inclination angle theta 2 of the measuring platform 1 of the next steel rail image and the distance from the representative point O to the steel rail reference plane.
In S305, the following formula is adopted in the method for obtaining the distance from the upper surface of the rail 6 at the same position as the rail in the overlap area to the rail reference plane according to the inclination angle θ 1 of the measuring platform 1 of the previous rail image and the distance from the representative point O to the rail reference plane or the inclination angle θ 2 of the measuring platform 1 of the next rail image and the distance from the representative point O to the rail reference plane:
Wherein the content of the first and second substances,
the distance from the upper surface of the steel rail 6 at the same position of the steel rail in the previous steel rail image overlapping region to the steel rail reference plane is represented; h1 represents the distance from the previous steel rail image representative point O to the steel rail reference plane; l n Represents the distance of the laser 2 of the previous image from the representative point O; θ 1 represents the inclination angle of the previous image measuring platform 1;
the distance from the laser 2 of the previous image to the intersection point (the same point of the steel rail) is shown; n is a natural number greater than 0;
S4: and splicing the distances from the upper surfaces of the steel rails 6 at the same position of the plurality of steel rails in the plurality of overlapped areas to the steel rail reference surface to obtain the wave grinding measured value.
The scheme completely breaks away the chord measuring method, and the data of the corrugation mill are directly spliced through measured values. The method has the advantages that the corrugation measurement data of a plurality of laser lines 21 are collected at one time, the requirement for equipment sampling frequency in high-speed operation is greatly reduced, and the carrier corrugation sampling work of the existing high-speed operation train is completed. And the mode of a plurality of groups of line lasers 2 and a camera 4 is adopted to carry out the corrugation collection, so that the overall cost of the high-speed corrugation system is reduced. Two-dimensional line laser measurement is adopted, and the type selection is combined with a lens, so that the steel rail and the steel rail offset area can be covered and measured, and the phenomenon of view field deviation caused by vehicle body shaking is avoided. The length of the laser array can be arbitrarily combined to meet vehicle clearance requirements based on the actual mounting structure location. And a plurality of corrugation measuring points within a certain length are directly measured, and two adjacent frame data are spliced and fused to obtain final corrugation data, so that errors caused by a transfer function in a chord measuring method do not exist, and accurate corrugation measuring data are obtained.
As a second embodiment of the present invention, there is provided a rail corrugation measurement method which is substantially the same as the method of the first embodiment except that, as shown in fig. 13, the method further includes:
s0: all laser lines 21 are calibrated before the car body is run on the rails 6.
The method of calibrating all laser lines 21 includes:
and opening one laser 2 each time, calibrating the triangular imaging relation between the opened laser 2 and the camera 4 to obtain k groups of triangular imaging relations, wherein k represents the number of the lasers 2.
And S302 also comprises the step of associating the extracted image coordinates with the data relationship obtained by calibration in sequence after the image coordinates are obtained in the step S302.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A rail corrugation measuring method is characterized by comprising the following steps:
the method comprises the following steps that a plurality of lasers are sequentially arranged on a measuring platform along the length direction of a steel rail, the measuring platform is fixed on a train body of an operating train or a measuring vehicle, the lasers emit a plurality of parallel laser lines to the steel rail, and the laser lines are perpendicular to the length direction of the steel rail;
continuously shooting a plurality of laser lines on the steel rail to obtain a plurality of steel rail images in the process that the vehicle body runs on the steel rail, wherein the steel rail of each two adjacent steel rail images has an overlapping area, the overlapping area comprises more than 4 laser lines, and each laser line corresponds to one steel rail homonymy point;
calculating the distance from the upper surface of the steel rail at the same position of the plurality of steel rails in the overlapping area to the reference plane of the steel rail; the method for calculating the distance from the upper surface of the steel rail at the same position of the plurality of steel rails in the overlapping area to the reference plane of the steel rail comprises the following steps: a representative point is arranged on the measuring platform, and a steel rail reference surface is set and arranged horizontally; extracting a plurality of laser lines in the overlapping area of the previous steel rail image and a plurality of laser lines in the overlapping area of the next steel rail image; finding out the intersection points of the central line of the upper surface of the steel rail and the plurality of laser lines, and obtaining the distance between each intersection point and the corresponding laser; simultaneously establishing more than 4 overlapped region steel rail homothetic point equations, and calculating the inclination angle and the distance from the representative point of the measuring platform of the previous steel rail image to the steel rail reference plane and the inclination angle and the distance from the representative point of the measuring platform of the next steel rail image to the steel rail reference plane; measuring the inclination angle of the platform and the distance between the representative point and the rail reference plane or the subsequent one according to the previous rail imageThe distance from the upper surface of the steel rail at the same position of the steel rail in the overlapped area to the reference plane of the steel rail is obtained by the inclination angle of the measuring platform of the steel rail image and the distance from the representative point to the reference plane of the steel rail; the equation of the steel rail coordinate point is as follows:
(ii) a Wherein h1 represents the distance from the representative point of the previous steel rail image to the steel rail reference plane, h2 represents the distance from the representative point of the next steel rail image to the steel rail reference plane, ln represents the distance from the laser of the previous image to the representative point, lm represents the distance from the laser of the next image to the representative point, theta 1 represents the inclination angle of the measurement platform of the previous image, and theta 2 represents the inclination angle of the measurement platform of the next image,
indicating the distance of the previous image laser to the intersection point,
the distance from the laser of the latter image to the intersection point is shown, and n and m are natural numbers larger than 0; the method for obtaining the distance from the upper surface of the steel rail at the same position of the steel rail in the overlapping area to the steel rail reference plane according to the inclination angle and the distance from the representative point of the measuring platform of the previous steel rail image or the inclination angle and the distance from the representative point of the measuring platform of the next steel rail image to the steel rail reference plane adopts the following formula:
(ii) a Or
(ii) a Wherein the content of the first and second substances,
representing the distance from the upper surface of the steel rail at the same position of the steel rail in the previous steel rail image overlapping region to the steel rail reference plane; h1 representing the point represented by the previous rail image to the rail reference planeA distance; ln represents the distance from the laser of the previous image to the representative point; theta 1 represents the inclination angle of the previous image measuring platform;
the distance from the laser of the previous image to the intersection point is shown; n is a natural number greater than 0;
the distance from the upper surface of the steel rail at the same position of the steel rail in the image overlapping area of the latter steel rail to the reference plane of the steel rail is represented; h2 represents the distance from the representative point of the next steel rail image to the steel rail reference plane; lm represents the distance from the laser of the latter image to the representative point; theta 2 represents the inclination angle of the measurement platform of the next image;
the distance from the laser of the next image to the intersection point is shown, and m is a natural number larger than 0;
and splicing the distances from the upper surfaces of the steel rails at the same position of the plurality of steel rails in the plurality of overlapped areas to the reference plane of the steel rails to obtain the actual corrugation value.
2. A rail corrugation measurement method according to claim 1, wherein all laser lines are calibrated before the car body is run on the rail;
the method for calibrating all laser lines comprises the following steps:
and opening one laser every time, calibrating the triangular imaging relation between the opened laser and the camera to obtain k groups of triangular imaging relations, wherein k represents the number of the lasers.
3. A rail corrugation measurement method as claimed in claim 1, wherein the speed of the car body is in the range of 20-80km/h;
the shooting time interval of the two continuous steel rail images is 0.006-0.03 second.
4. A rail corrugation measurement method according to claim 1, wherein a plurality of parallel laser lines are provided at equal intervals.
5. A rail corrugation measurement method according to claim 1, wherein the distance between each two adjacent laser lines is less than or equal to 5 mm.
6. A rail corrugation measurement method according to claim 1, wherein the method of extracting the plurality of laser lines of the overlapping area of the previous rail image and the plurality of laser lines of the overlapping area of the subsequent rail image includes:
extracting the outlines of a plurality of laser lines in the overlapping area of the previous steel rail image and the next steel rail image according to the gray distribution area information;
extracting the central line of the profile of each laser line;
the method for obtaining the distance between the intersection point and the corresponding laser comprises the following steps:
measuring coordinates of the intersection point under a camera coordinate system are obtained according to the steel rail image through triangulation;
according to the rotation relation between the world coordinate system and the camera coordinate system, the position of the measurement coordinate in the world coordinate system is obtained, and further the distance between the corresponding intersection point and the corresponding laser is obtained;
the rotation relation between the world coordinate system and the camera coordinate system is calibrated, the camera is located at the origin in the world coordinate system and the camera coordinate system, the world coordinate system comprises an X axis, and the camera and the laser are located on the X axis; the camera is arranged on a connecting line of the plurality of lasers.
7. A rail corrugation measurement method according to claim 1, wherein the representative point is provided at a midpoint of the lower surface of the measurement platform.
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| US4573131A (en) * | 1983-08-31 | 1986-02-25 | John Corbin | Method and apparatus for measuring surface roughness |
| JP3282685B2 (en) * | 1993-01-21 | 2002-05-20 | 日立電子エンジニアリング株式会社 | Monorail train track wear inspection device |
| DE19721915C1 (en) * | 1997-05-26 | 1998-12-10 | Stn Atlas Elektronik Gmbh | Method and device for measuring unevenness in an object surface |
| JP2003011702A (en) * | 2001-06-29 | 2003-01-15 | Mitsubishi Heavy Ind Ltd | Wear measuring method and wear measuring device |
| CN100480627C (en) * | 2007-10-26 | 2009-04-22 | 北京航空航天大学 | Steel rail wearing integrative parameter vehicle-mounted dynamic measuring device and method |
| CN101576375B (en) * | 2009-05-21 | 2010-09-22 | 北京航空航天大学 | Fast processing method of laser vision image of steel rail wear |
| CN104048603B (en) * | 2014-06-20 | 2017-05-17 | 南京理工技术转移中心有限公司 | System and method for measuring array laser reticle and area array CCD high-resolution large visual field |
| CN108001481B (en) * | 2017-12-07 | 2019-04-09 | 石家庄铁道大学 | Vehicular wheel track displacement image detecting method and detection device based on bidifly light source |
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| CN109798850B (en) * | 2019-02-01 | 2020-10-20 | 湖南大学 | Rail corrugation measuring method |
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