CN202163455U

CN202163455U - Novel gauge measuring vehicle

Info

Publication number: CN202163455U
Application number: CN2011202504565U
Authority: CN
Inventors: 李立明; 柴晓冬; 郑树彬; 潘海泽; 朱文发; 罗永建
Original assignee: Shanghai University of Engineering Science
Current assignee: Shanghai University of Engineering Science
Priority date: 2011-07-15
Filing date: 2011-07-15
Publication date: 2012-03-14
Anticipated expiration: 2021-07-15

Abstract

The utility model provides a new type of gauge measuring vehicle, which includes a compartment, the imaging bottom is provided with wheels running on rails, the compartment is provided with seats, a workbench and a driving mechanism for driving the wheels, and the compartment is also provided with The electric control box and the rear part are provided with a fuel tank, and a camera mounting bracket is provided under the rear part of the carriage, and two groups of CCD cameras facing back are arranged on the bracket, and each group includes two spaced apart CCD cameras. There is a fan-shaped laser between them. Each group of CCD cameras has a common field of view. The two groups of CCD cameras do not have a common field of view. to calculate the track gauge. The utility model has the advantage of high precision.

Description

A kind of novel gauge is measured car

Technical field

The utility model relates to the gauge field of measurement, is specifically related to a kind of gauge that can measure the rail spacing and measures car.

Background technology

The gauge irregularity can cause wheel to slide down or block rail; In time gauge does not expand the degree that wheel is slided down as yet to; Because the bigger wheel tread of gradient will make rail suffer the horizontal thrust of additive incrementation, if therefore the heavy grade section of wheel tread gets into the tread inner arc and also should avoid with interior.Gauge changes acutely in the short range, shows to have serious direction irregularity, also can influence train safe certainly, so the gauge parameter is a requisite monitoring project in the track monitoring.

For a long time, the monitoring of irregularity parameters such as gauge is all adopted the method for hand dipping.Yet begin research in the world at the end of the seventies to the automatic measurement system of rail gauge; Particularly developed countries such as Japan, Germany are beginning to utilize the computer vision measurement technology to carry out the rail monitoring around the eighties; But be limited by the restriction of computer hardware and computer image processing technology, do not have fine this type of solution problem.China begins the research of this project in the nineties, wherein the 4th generation track checking car adopted photoelectric sensing and servomechanism to measure, its major defect is that servomechanism damages easily owing to existing hide vibrations.

Development along with computer image processing technology; The automated monitoring system that is made up of several parts of line source, image capturing system and data processing system is developed out; How utilizing machine vision technique to reach and improve the track monitoring accuracy, is the direction of joint research in the industry.

The utility model content

To above-mentioned defective, the purpose of the utility model provides a kind of novel gauge and measures car, to solve the method for measurement of prior art, measures coarse technical matters.

For realizing above-mentioned purpose, the technical scheme below the utility model has adopted:

A kind of novel gauge is measured car, comprises the compartment, and the bottom, compartment is provided with the wheel that travels along the railway track; Be provided with seat, bench board in the compartment and be used for the driver train of drive wheels running, also be provided with electric cabinet in the compartment, afterbody is provided with fuel tank, afterbody below in compartment is provided with a camera mounting bracket; This support be provided with back to two groups of ccd video cameras; Every group comprises two isolated ccd video cameras, between two isolated ccd video cameras, respectively is provided with a fan-shaped laser, and every group of ccd video camera has common visual field; Two groups of ccd video cameras do not have common visual field; Towards different rails, the data of two groups of ccd video camera shootings send to the central process unit on the said bench board, calculate gauge respectively.

Measure car according to the described novel gauge of the utility model preferred embodiment; Described 4 ccd video cameras constitute two groups of biocular systems that do not have public view field; Can obtain the position relational matrix of 2 pick up cameras through the transformation relation matrix computations, also comprise the scaling board that laser engraving obtains, on this scaling board, selecting spatial coordinates is known angle point; Obtain the pixel coordinate of each angle point, carry out single ccd video camera and demarcate the inside and outside parameter that obtains pick up camera.

Owing to adopted above technical characterictic, make the utility model than prior art, have following advantage and good effect:

The first, the novel gauge that provides of the utility model is measured car, utilizes the binocular vision imaging system of two groups of opposite types, cooperates world coordinates, calculates the spacing between two rails, can improve precision and accuracy;

Certainly, implement any one specific embodiment of the utility model content, might not have above whole technique effect simultaneously.

Description of drawings

Fig. 1 is the scheme drawing that the gauge that provides of the utility model is measured car;

Fig. 2 is the scheme drawing of the camera mounting bracket in the utility model.

The specific embodiment

For ease of understanding, the preferred embodiment of the utility model is done being described in further detail below in conjunction with accompanying drawing.

As shown in Figure 1; The novel gauge that the utility model provides is measured car; Comprise compartment 10,10 bottoms, compartment are provided with the wheel 11 that travels along the railway track, and are provided with seat 12, bench board 17 in the compartment 10 and are used for the driver train 13 of drive wheels running; Also be provided with electric cabinet 14 in the compartment 10, afterbody is provided with fuel tank 15, compartment afterbody below is provided with a camera mounting bracket 16.

Please be simultaneously with reference to figure 2, support 16 be provided with back to two groups of ccd video cameras, every group comprises two isolated ccd video cameras; Between two isolated ccd video cameras, respectively be provided with a fan-shaped laser; Every group of ccd video camera has common visual field, and two groups of ccd video cameras do not have common visual field, respectively towards different rails; The data of two groups of ccd video camera shootings send to the central process unit on the said bench board 17, calculate gauge.

Novel gauge is measured car and is comprised the scaling board that laser engraving obtains, and central process unit is based upon the former point selection of spatial coordinates on the scaling board.On this scaling board, selecting spatial coordinates is known angle point; Obtain the pixel coordinate of each angle point; Carry out single ccd video camera and demarcate the inside and outside parameter that obtains pick up camera; Central process unit can obtain the relativeness matrix of 2 ccd video cameras through cooresponding transformation matrix, further obtains central process unit obtains 4 ccd video cameras through transformation matrix any 2 relative position relation matrix.

Described 4 ccd video cameras constitute two groups of biocular systems that do not have public view field; Can obtain the position relational matrix of 2 pick up cameras through the transformation relation matrix computations; Central process unit is rebuild us through the space and is obtained 1 the spatial coordinates on each limit; Through the position relational matrix of both sides biocular systems, we just set up the spatial relation of 2 points in both sides again, thereby obtain the gauge that we are concerned about.

As shown in Figure 2; The fan-shaped LASER Light Source 1 of rail installed inside and 2 in the left and right sides; Fan-shaped LASER Light Source 1 and 2 vertical irradiations are on rail; Form rail half profiled outline in that rail is inboard, pounce on and catch rail profile light belt image by cross formula binocular tri-dimensional vision system four ccd video camera C1, C2, C3, C4 of the left and right sides respectively, obtain rail top, the left and right sides spatial coordinates at 16mm place (gauge point) once through graphical analysis, coupling and stereovision algorithm.Can know by the binocular vision system theory,, suppose that pick up camera calibrates, then can know inner parameter A1 and the A2 of pick up camera C1, C2 for left side binocular vision system ccd video camera C1, C2, and the geometric relationship R between them _1,2And T _1,2, the world coordinate system of binocular vision system is fixed on the photocentre of pick up camera C1, then their projection matrix is respectively M ₁=A ₁I=A ₁(I is an identity matrix), M ₂=A ₂[R _1,2T _1,2], projection relation can be by formula (1-1) and (1-2) expression.

Figure 2011202504565100002DEST_PATH_IMAGE001

Wherein, z _C1, z _C2Be spatial point component in camera coordinates, but cancellation when calculating, (u ₁, v ₁) and (u ₂, v ₂) be gauge point p ₁Respectively at pick up camera C ₁And C ₂Image coordinate in the captured image can obtain through the graphical analysis coupling, ( x _Wl, y _Wl, z _{W l}) be P ₁Spatial coordinates, can know by the stereo vision three-dimensional rebuilding theory, can try to achieve through formula 1-1 and 1-2; In like manner; For right side binocular vision system (constituting) by ccd video camera C3 and C4, make world coordinate system be fixed on the photocentre of camera C3, can obtain right side rail gauge point P _rSpatial coordinates ( x _Wr, y _Wr, z _Wr).In addition, through the mode of calibration, also can be by the geometric relationship R that obtains between ccd video camera C1 and the C3 _1,3And T _1,3, therefore can be with P _lAnd P _rSpatial coordinates ( x _Wl, y _Wl, z _{W l}) and ( x _Wr, y _Wr, z _Wr) be mapped under the same world coordinates.Can try to achieve tracing point P through the space length formula _lAnd P _rBetween distance, be desired gauge value.

In sum, owing to adopted above technical characterictic, make the utility model have following advantage and good effect than prior art:

The first, the novel gauge that provides of the utility model is measured car, utilizes the binocular vision imaging system of two groups of opposite types, cooperates the coordinate in the world coordinates, calculates the spacing between two rails, can improve precision and accuracy.

More than disclosed only be the preferred embodiment of the utility model; But be not to be used for limiting itself; Anyly have the knack of those skilled in the art under the situation of the utility model spiritual connotation, the equalization of being done changes and changes, and all should drop in the protection domain of the utility model.

Claims

1. A novel gauge measuring car is characterized in that it comprises a compartment, the bottom of the compartment is provided with wheels running on the rails, the compartment is provided with a seat, a workbench and a drive mechanism for driving the wheels, and in the compartment There is an electric control box, a fuel tank at the rear, and a camera mounting bracket under the rear of the carriage. There are two groups of CCD cameras facing back on the bracket. Each group includes two spaced apart CCD cameras. There is a fan-shaped laser between the CCD cameras. Each group of CCD cameras has a common field of view. The two groups of CCD cameras have no common field of view, and they are facing different rails. The data captured by the two groups of CCD cameras are sent to the workbench. on the central processing unit.

2. The novel gauge measuring vehicle as claimed in claim 1, characterized in that, said 4 CCD cameras form two groups of binocular systems without a common field of view.