CN1251126C - Two-dimensional laser scanning method for detecting overload of freight train - Google Patents
Two-dimensional laser scanning method for detecting overload of freight train Download PDFInfo
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- CN1251126C CN1251126C CN 03105157 CN03105157A CN1251126C CN 1251126 C CN1251126 C CN 1251126C CN 03105157 CN03105157 CN 03105157 CN 03105157 A CN03105157 A CN 03105157A CN 1251126 C CN1251126 C CN 1251126C
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Abstract
The present invention discloses a two-dimensional laser scanning method for detecting the overload of freight trains. The method adopts a two-dimensional laser scanner technique for measurement for obtaining the full cross section outline data of freight trains and goods by the combination of a plurality of sensors. Under the same coordinate system, the outline data of the freight trains and the goods is contrasted with limitation data. The present invention judges whether the freight trains and the goods are overloaded or not, and also further provides concrete overload positions, overload grades and overload numerical values.
Description
Technical field
The present invention relates to a kind of two dimensional laser scanning method that the railway goods vehicle loading transfinites that is used to detect.
Background technology
In order to ensure the safety of railways train operation, need the loading condition of monitoring goods train, guarantee that vehicle and lade are within the gauge scope that allows.The various gauges such as loading gauge of rolling stock clearance and permission all are polygon.Under the normal condition, each position of vehicle and lade does not allow to exceed vehicle gauge of the locomotive.In particular cases, the goods of vehicle loading allows to surpass vehicle gauge of the locomotive, but need be controlled in certain other loading gauge of level.
At present, knownly be used to detect the railway goods vehicle loading and whether exceed the method that allows gauge, mainly contain infrared rays survey and photogrammetric two kinds.Wherein the infrared rays survey method only is observational measurement, can not determine the three-dimensional coordinate at the position of transfiniting and the numerical value that transfinites.Photogrammetric survey method is the overrun condition that detects vehicle and lade by image acquisition and Flame Image Process.The influence that changed by light, the picture quality of collection are difficult to guarantee; And photogrammetric survey method is difficult to provide the three-dimensional data at position of transfiniting.
In the practical application, the laser measurement that not disturbed by high light is a most convenient, the most accurately.The space curve that the cross-sectional outling of vehicle and goods is made up of multiple spot, and therefore conventional laser ranging is difficult to finish measurement requirement at single-point.Adopt the two dimensional laser scanning technology then can solve this contradiction.The two dimensional laser scanning technology is called the face scanning technique again, and it adopts Laser emission, diffuse reflection to accept principle and finds range.Emitting and receiving equipment is measured with equal angles in inner high speed rotation, and object is to the distance value (polar coordinates value) of equipment initial point when obtaining corresponding a certain angle.
Summary of the invention
In order accurately to obtain the overrun condition of vehicle and lade, the invention provides the method for using accurate measuring vehicle of two dimensional laser scanning and the full profile data of lade.Adopting said method not only can accurately be judged vehicle and whether lade transfinites, and can also provide the concrete position of transfiniting, information such as the off-gauge grade and the numerical value that transfinites.
The present invention realizes that the technical scheme of its purpose is: in the permission space of rail track, set up the two-dimensional laser sensor on diverse location.The principle that sensor sets up is that the different sensors intersection is measured, and remedies the measurement blind area that may exist mutually, forms a complete measurement zone.Because goods is loaded on more than the vehicle floor face certainly, so the following data of lorry base plate face do not participate in the judgement of transfiniting.Two of reasonable Arrangement or many sensors make the full profiled outline data (do not comprise the base plate face, down with) on its end face that can detect lorry and goods, side and inclined-plane.Sensor is many more, and the data point that then measures is just many more.Like this, when vehicle when this measurement zone, the laser sensor that sets up scans vehicle and goods, obtains in the polar coordinate system separately the distance and the angle-data of a plurality of points on the vehicle and goods profile.Each laser sensor is sent to computing machine with the data that obtain, and computing machine is changed and is incorporated into unified orbit coordinate with data and fasten by demarcating good orbit coordinate and the transformational relation between each laser sensor polar coordinates in advance.The full profiled outline data of vehicle and goods like this, have just been obtained.Along with advancing of train, laser sensor is gathered continuously, like this with regard to the outline data on the different section that has obtained vehicle and goods continuously.The outline data that records and the vehicle gauge and the loading gauge data of regulation and stipulation are compared, can judge accurately that then whether vehicle and goods transfinite, and the concrete position of transfiniting, off-gauge grade and the numerical value etc. that transfinites.
The invention has the beneficial effects as follows, directly measure the full profiled outline data of vehicle and goods, compare, judge whether vehicle and goods transfinite, and the concrete position of transfiniting, the off-gauge grade and the numerical value that transfinites are provided by data with the regulation gauge.The system that builds up according to the present invention, principle is clear and definite, precision is high and antijamming capability is strong.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.Wherein:
Fig. 1 vehicle gauge of the locomotive and the gauge that transfinites at different levels
Two sensor example structure of Fig. 2 synoptic diagram
Three sensor example structure of Fig. 3 synoptic diagram
Fig. 4 a transfinites and judges synoptic diagram (example transfinites)
Fig. 4 b transfinites and judges synoptic diagram (example does not transfinite)
Embodiment
Figure 1 shows that the synoptic diagram of the various gauges relevant with vehicle loading.As can be seen from Figure, gauges at different levels are polygon, go up at various height, and the width that allows to load is different; On different width, the height that allows to load also is different.Therefore only obtain the maximum height and the breadth extreme of vehicle and goods, can not judge accurately whether vehicle and goods transfinite.After only measuring the full profiled outline data of vehicle and goods, compare, could accurately judge whether vehicle and goods transfinite, and information such as the position of transfiniting, the off-gauge grade of vehicle and goods and the numerical value that transfinites specifically are provided with the gauge data of stipulating.
In embodiment illustrated in fig. 2, adopted two laser sensor A, B, this is most economical scheme.With the oblique upper of two transducer arrangements at circuit, each sensor is all taken into account the top and the one-sided lateral region of vehicle.In the top area of vehicle, two sensors have juxtaposition, and emphasis detects this zone of transfiniting takes place to load easily.On measurement face, the analyzing spot of two laser sensors is existing overlapping, complements each other again, has covered the whole contour area that needs detection.
In embodiment illustrated in fig. 3, adopted three laser sensor A, B, C, this is the highest scheme of cost performance.Sensors A is arranged in the vehicle top, detects the vehicle top area; Laser sensor B, C respectively are arranged in a side of vehicle, detect lateral region.Like this, guarantee to detect under the situation of complete profiled outline, each sensor can both be with spot scan surveyed area as much as possible, thereby has utilized the scan-data of sensor to greatest extent.
On measurement face, the analyzing spot of different laser sensors is existing overlapping, complements each other again, has covered whole profile.Because the coordinate system of laser sensor and the coordinate transformation relation between the orbital coordinate system determine, the data that sensor measures are through coordinate conversion and arrangement, can be expressed as the outline data of vehicle and goods section under the orbital coordinate system.Adopt more sensor, can obtain more intensive data point, the particular location of sensor and quantity can be determined according to the needs of concrete application.
Whether Figure 4 shows that transfinites judges synoptic diagram.After obtaining the vehicle and goods outline data under the orbital coordinate system, the gauge data at different levels under itself and the same coordinate system are compared, just can judge whether vehicle and goods transfinite.Fig. 4 a is depicted as does not have the open-top car vehicle that transfinites, and all within vehicle gauge of the locomotive, therefore do not exist transfinites all analyzing spots among the figure.Fig. 4 b is depicted as the open-top car vehicle that loads timber.Among the figure, above the vehicle roof zone, there are two analyzing spots to exceed vehicle gauge of the locomotive; Side in the vehicle roof zone has four analyzing spots to exceed vehicle gauge of the locomotive, wherein has a point to exceed the one-level gauge that transfinites, for maximum transfinites a little.Comprehensive judgement Fig. 4 b state transfinites for the vehicle loading secondary.Transfinite coordinate a little, the numerical value that transfinites of maximum all can provide.The maximum coordinate that transfinites a little is horizontal ordinate 1731mm among the figure, and ordinate is 3914mm, and exceeding gauge length is 51mm.
Claims (2)
1. one kind is used to detect the two dimensional laser scanning method that the railway goods vehicle loading transfinites, this method can detect the outline data that obtains the vehicle and the thing of freighting and judge whether it surpasses the regulation gauge, it is characterized in that: in the space that rail track allows, arrange two or many laser sensors that adopt the two dimensional laser scanning technology, make the laser scanning zone cover the side and the top of rolling stock, when vehicle by the time just can measure the coordinate of putting on the full profiled outline of vehicle and lade side and top, relatively the size between each point coordinate and the regulation threshold value on the vehicle ' s contour judges whether vehicle and goods surpass the permission gauge.
2. according to the described two dimensional laser scanning method of claim 1, it is characterized by:, can calculate the concrete position of transfiniting, off-gauge grade and the numerical value that transfinites according to the coordinate that transfinites a little if measurement point transfinites on the vehicle ' s contour.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03105157 CN1251126C (en) | 2003-03-06 | 2003-03-06 | Two-dimensional laser scanning method for detecting overload of freight train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03105157 CN1251126C (en) | 2003-03-06 | 2003-03-06 | Two-dimensional laser scanning method for detecting overload of freight train |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1527237A CN1527237A (en) | 2004-09-08 |
| CN1251126C true CN1251126C (en) | 2006-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 03105157 Expired - Lifetime CN1251126C (en) | 2003-03-06 | 2003-03-06 | Two-dimensional laser scanning method for detecting overload of freight train |
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Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101424510B (en) * | 2007-10-31 | 2012-07-04 | 保定市天河电子技术有限公司 | Detecting method and system for overrun of train |
| US8552313B2 (en) | 2008-12-09 | 2013-10-08 | Datalogic ADC, Inc. | Systems and methods for reducing weighing errors associated with partially off-scale items |
| CN102887155A (en) * | 2011-07-22 | 2013-01-23 | 天津思博科科技发展有限公司 | Freight train transfinite computer vision inspection system |
| CN103223955B (en) * | 2013-03-27 | 2016-05-04 | 南车株洲电力机车有限公司 | A kind of detection method of vehicle gauge and device |
| CN104176089B (en) * | 2013-05-22 | 2016-08-10 | 中特物流有限公司 | Lorries automobile overweight detecting system |
| CN103901499B (en) * | 2014-04-18 | 2017-04-12 | 燕山大学 | C80 vehicle body surface foreign object detection device and method based on three-dimensional reconstruction technology |
| CN104359603B (en) * | 2014-10-31 | 2017-11-17 | 中国铁道科学研究院铁道建筑研究所 | Wheel track moves vertical force continuous test method |
| CN106556370B (en) * | 2015-09-30 | 2020-05-26 | 佛山市南华仪器股份有限公司 | Calibration device and calibration method for motor vehicle outline detector |
| CN107421502B (en) * | 2017-07-26 | 2019-09-27 | 同济大学 | A kind of railway freight-car limit automatic measurement method |
| CN108528474B (en) | 2018-04-02 | 2019-09-13 | 交控科技股份有限公司 | Railcar limit detection method and system |
| CN110132193A (en) * | 2019-05-24 | 2019-08-16 | 中车株洲电力机车有限公司 | A kind of method and system whether exceeding restraining line for detecting floor underframe for vehicle equipment |
| CN112238878A (en) * | 2019-07-17 | 2021-01-19 | 中车长春轨道客车股份有限公司 | Modularized rail vehicle limit testing device and testing method |
| CN112344854B (en) * | 2020-10-27 | 2022-06-03 | 深圳市航天华拓科技有限公司 | Vehicle overrun detection method, system and computer readable storage medium |
| CN113654632A (en) * | 2021-08-16 | 2021-11-16 | 东华理工大学 | Railway freight transportation geometric overrun early warning system based on high-speed laser radar |
| CN117029745B (en) * | 2023-08-07 | 2024-03-26 | 中铁特货大件运输有限责任公司 | Accounting method and system for railway limit distance |
-
2003
- 2003-03-06 CN CN 03105157 patent/CN1251126C/en not_active Expired - Lifetime
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Owner name: BEIJING RAILWAY BUREAU ENGINEERING TESTING CENTER Free format text: FORMER OWNER: INST. OF RAILWAY CONSTRUCTION, INST. OF RAILWAY SCIENCES Effective date: 20081114 |
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Effective date of registration: 20081114 Address after: Beijing City, Haidian District Daliushu Road No. 2 Patentee after: BEIJING RAILWAY SCIENCE ENGINEERING INSPECTION CENTER Address before: Beijing City, Haidian District Road No. 2 Daliushu District 303 Patentee before: Institute Of Railway Construction Of Railway Science Research Institute |
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Granted publication date: 20060412 |